Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder. The procedure increases the reliability of the position measurements by enforcing measurement consistency using mutual constraint, and increases their accuracy by combining them with a maximum-likelihood estimator into an estimate of lower variance than any of the measurements alone. The results of experiments show that the integrated range values are highly reliable.
Results confirm the value of using multiple sensors.
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