UWB Base Station Cluster Localization for Unmanned Ground Vehicle Guidance

Algorithm 9

Function Decode().

	Input:
	Output: positions for station groups
(1)	functionDECODE
(2)
(3)	fordo
(4)	ifthen
(5	)
	Where is the center of
(6)	end if
(7)	end for
(8)	end function