“…A multitude of localization schemes have been proposed with different measurement data (e.g., node connectivity [6], multihop number [15], [16], AOA [12], TOA [8], [9], [10], [11], time difference of arrival [17], frequency difference of arrival [18], gain ratios of arrival and range differences of arrival [19]), under various constraints (e.g., the reference node location errors [20], [21] and radio wave measurement [6]) in different scenarios (e.g., underwater [22], indoor [23], outdoor [24], dynamic tracking [25] and acoustic environment [26]). For example, the reference node location error was studied in [20] and [21], where the importance sampling and expectation-maximization-based positioning methods were proposed respectively to deal with the anchor node location errors.…”