TDoA-Based Outdoor Positioning with Tracking Algorithm in a Public LoRa Network

Figure 8

Tracking results for walking route in LORA network with SF8 (a) before and (b) after applying the tracking algorithm. Black line = ground truth trajectory; green dots = estimated TDoA locations; blue dots = Viterbi estimated locations; red lines = error between estimation and ground truth.

(a)

(b)