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We want to compare the various methods of geolocation using ping RTT measurements to estimate the distance between landmarks and targets. The landmarks are at known lat/longs and the min RTT from the three (Tri-Lateration) or more closest landmarks to the target are used. From each min RTTs the distance to the target is estimated as distance (km) = alpha * minRTT(ms) * 100 (km/ms). In these tests we use each of the other landmarks (at known locations) one at a time as targets (si we know the location of the targets also). Comparing the actual location of the target and the estimated location we were able to calculate the error as the distance between these two values. There is a spreadsheet with more details.
Constraint Based Geolocation (CBG) using Tri-lateration vs Tri-Lateration with no constraints
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