Boundary node ID

Original JRSS

Noisy JRSS

KF JRSS

LP JRSS

Original

Dist.

(m)

Est.

Dist. KF (m)

Est.

Dist.

LP (m)

MSE

KF

(m)

MSE

LP

(m)

4

−70.90

−70.69

−70.93

−70.53

35.09

35.21

33.64

0.08

1.02

5

−70.16

−68.93

−70.21

−70.30

32.21

32.42

32.73

0.14

0.37

16

−69.60

−68.62

−69.53

−68.96

30.20

29.99

28.07

0.15

1.50

34

−71.14

−70.57

−71.25

−71.12

36.06

36.54

35.97

0.33

0.06

38

−69.87

−68.63

−69.82

−69.67

31.16

30.98

30.45

0.12

0.50

44

−70.84

−70.86

−70.90

−70.96

34.84

35.09

35.35

0.17

0.35

45

−70.36

−69.58

−70.24

−70.46

32.99

32.52

33.37

0.33

0.26

49

−71.45

−71.38

−71.40

−72.02

37.40

37.18

39.92

0.15

1.78