“…Five anchors are selected such that they all are in the radio range of the target as it moves along a helical path according to Equation (12). The x-, y-, and z-dimensions of the anchors are taken as [10,100,10,100,90], [100,90,70,80,90] and [10,10,100,100,150] meters, respectively. The helix constants are r = 40, K = 20 and θ varies from zero to 2π.…”