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T
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s
ed
.
Fo
r
in
d
o
o
r
u
s
e,
UW
B
h
elp
s
co
r
r
ec
t
I
NS
er
r
o
r
s
to
ac
h
iev
e
ce
n
ti
m
eter
-
le
v
el
ac
c
u
r
ac
y
.
I
n
GN
SS
-
c
h
alle
n
g
ed
ar
ea
s
,
th
e
s
y
s
te
m
e
n
s
u
r
es
c
o
n
tin
u
o
u
s
,
ac
cu
r
ate
p
o
s
itio
n
in
g
.
An
ex
p
er
i
m
en
t
i
n
a
h
ig
h
-
r
is
e
b
u
ild
in
g
s
h
o
w
ed
th
e
s
y
s
te
m
’
s
ef
f
ec
ti
v
e
n
ess
,
ac
h
ie
v
in
g
a
m
ea
n
s
q
u
ar
e
er
r
o
r
o
f
1
0
.
1
8
cm
,
p
r
o
v
id
in
g
s
ea
m
le
s
s
i
n
d
o
o
r
-
o
u
td
o
o
r
p
o
s
itio
n
in
g
.
L
i
u
et
a
l.
[
1
1
]
in
tr
o
d
u
ce
a
n
o
v
el
m
e
th
o
d
ca
lled
d
y
n
a
m
ic
f
ea
s
ib
le
r
eg
io
n
-
b
a
s
ed
p
ar
ticle
f
ilter
in
g
to
im
p
r
o
v
e
th
e
ac
cu
r
ac
y
a
n
d
s
tab
ilit
y
o
f
UW
B
in
d
o
o
r
p
o
s
itio
n
in
g
.
I
t
ad
d
r
ess
e
s
t
h
e
ch
alle
n
g
e
s
o
f
p
ar
ticle
co
n
v
er
g
en
ce
f
o
r
p
ar
ticle
f
ilter
in
N
L
OS
co
n
d
itio
n
s
b
y
d
y
n
a
m
icall
y
ad
j
u
s
ti
n
g
t
h
e
o
b
s
er
v
atio
n
li
k
eli
h
o
o
d
f
u
n
ctio
n
b
ased
o
n
s
ig
n
al
p
o
w
er
q
u
alit
y
.
E
x
p
er
i
m
e
n
tal
r
es
u
lts
d
em
o
n
s
tr
ate
th
e
e
f
f
ec
ti
v
e
n
ess
o
f
t
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
in
c
o
m
p
le
x
i
n
d
o
o
r
en
v
ir
o
n
m
e
n
t
s
.
I
n
d
o
o
r
p
o
s
itio
n
in
g
s
y
s
te
m
s
u
s
i
n
g
UW
B
ca
n
b
e
u
s
ed
n
o
t
o
n
l
y
f
o
r
h
u
m
a
n
s
b
u
t
also
f
o
r
r
o
b
o
ts
.
Z
h
u
et
a
l.
[
1
2
]
in
tr
o
d
u
ce
a
n
o
v
e
l
m
et
h
o
d
f
o
r
b
u
ild
in
g
an
er
r
o
r
m
ap
f
o
r
UW
B
in
d
o
o
r
p
o
s
itio
n
in
g
,
w
h
ich
ca
n
h
elp
i
m
p
r
o
v
e
th
e
ac
cu
r
ac
y
o
f
th
e
m
o
b
ile
r
o
b
o
t
s
y
s
te
m
.
T
h
e
m
et
h
o
d
ad
ap
ts
th
e
d
i
s
tr
ib
u
tio
n
o
f
m
ea
s
u
r
e
m
e
n
t
p
o
in
ts
to
a
r
o
u
g
h
er
r
o
r
d
is
tr
ib
u
tio
n
an
d
u
s
es
t
h
e
er
r
o
r
m
ap
i
n
a
p
ar
ticle
f
ilt
er
to
i
m
p
r
o
v
e
p
o
s
i
tio
n
in
g
ac
c
u
r
ac
y
.
T
h
e
r
es
u
lt
s
s
h
o
w
a
s
i
g
n
if
ican
t
r
ed
u
ctio
n
in
th
e
n
u
m
b
er
o
f
m
ea
s
u
r
e
m
e
n
t
p
o
in
ts
r
eq
u
ir
ed
an
d
b
etter
p
o
s
itio
n
in
g
ac
cu
r
ac
y
w
it
h
f
aste
r
co
n
v
er
g
e
n
ce
s
p
ee
d
.
W
an
g
et
a
l.
[
1
3
]
,
p
r
esen
t
a
n
o
v
el
m
eth
o
d
f
o
r
UW
B
-
b
ased
I
P
S
th
at
ad
d
r
ess
es
t
h
e
ch
a
llen
g
e
s
o
f
NL
O
S
in
ter
f
er
en
ce
.
T
h
e
m
et
h
o
d
u
tili
ze
s
a
p
r
io
r
en
v
ir
o
n
m
e
n
tal
m
ap
to
id
en
tify
li
n
e
-
of
-
s
ig
h
t
(
L
O
S)
an
d
NL
O
S
an
c
h
o
r
s
an
d
t
h
e
n
co
r
r
ec
ts
N
L
OS
o
b
s
er
v
a
tio
n
s
.
A
m
a
p
-
m
o
d
if
ied
Kal
m
a
n
f
ilter
i
n
g
a
lg
o
r
ith
m
i
s
u
s
ed
to
o
p
tim
ize
th
e
tr
aj
ec
to
r
y
.
T
h
e
ex
p
er
i
m
e
n
tal
r
esu
l
ts
s
h
o
w
t
h
at
th
e
p
r
o
p
o
s
ed
m
eth
o
d
s
ig
n
if
ica
n
tl
y
i
m
p
r
o
v
es
p
o
s
itio
n
in
g
ac
c
u
r
ac
y
co
m
p
ar
ed
to
tr
ad
itio
n
al
f
ilter
in
g
a
lg
o
r
i
th
m
s
,
e
s
p
ec
iall
y
in
N
L
OS
e
n
v
ir
o
n
m
e
n
ts
w
it
h
f
e
w
an
ch
o
r
s
.
Me
a
n
w
h
ile,
Fe
n
g
e
t
a
l.
[
1
4
]
in
tr
o
d
u
ce
an
in
te
g
r
ated
I
P
S
co
m
b
in
i
n
g
in
er
t
ial
n
a
v
i
g
atio
n
s
y
s
te
m
(
I
NS
)
an
d
UW
B
to
i
m
p
r
o
v
e
ac
c
u
r
ac
y
a
n
d
r
o
b
u
s
tn
e
s
s
.
I
t
d
is
cu
s
s
es
th
e
r
elatio
n
s
h
ip
b
et
w
ee
n
t
h
e
b
ase
s
tatio
n
’
s
d
is
tr
ib
u
tio
n
a
n
d
d
ilu
tio
n
o
f
p
r
ec
is
io
n
,
an
d
u
s
e
s
ex
te
n
d
ed
Kalm
an
f
i
l
ter
an
d
u
n
s
ce
n
ted
Kal
m
an
f
il
ter
(
UKF)
f
o
r
f
u
s
io
n
.
Si
m
u
latio
n
r
es
u
lts
s
h
o
w
th
a
t
th
e
p
r
o
p
o
s
ed
I
P
S
h
as
a
h
ig
h
er
ac
cu
r
ac
y
co
m
p
ar
ed
to
t
h
e
o
n
e
th
at
o
n
l
y
u
s
es
UW
B
w
it
h
lea
s
t
s
q
u
ar
e
es
ti
m
atio
n
.
T
h
e
p
r
o
b
lem
s
o
f
a
n
ten
n
a
ca
lib
r
atio
n
f
o
r
UW
B
-
b
ase
d
I
P
S
ar
e
cu
r
r
en
tl
y
co
n
s
id
er
ed
in
[
1
5
]
.
I
n
t
h
is
s
t
u
d
y
,
t
h
e
a
u
th
o
r
s
p
r
ese
n
t
a
n
o
v
el
c
alib
r
atio
n
an
d
co
m
p
e
n
s
a
tio
n
a
l
g
o
r
ith
m
f
o
r
UW
B
-
b
ased
r
an
g
i
n
g
.
I
t
ad
d
r
ess
es
th
e
li
m
ita
tio
n
s
o
f
e
x
is
ti
n
g
m
eth
o
d
s
b
y
co
n
s
id
er
in
g
s
ec
o
n
d
-
o
r
d
er
er
r
o
r
ter
m
s
a
n
d
d
is
tan
ce
c
o
n
s
tr
ai
n
ts
b
et
w
ee
n
an
ch
o
r
s
.
B
y
i
n
teg
r
at
in
g
UW
B
an
d
b
u
i
lt
-
in
s
e
n
s
o
r
m
ea
s
u
r
em
en
ts
,
t
h
e
al
g
o
r
it
h
m
esti
m
ates
tar
g
et
p
o
s
itio
n
s
u
s
in
g
d
u
al
UKF
an
d
UW
B
r
an
g
i
n
g
.
E
x
p
er
i
m
en
tal
r
esu
lt
s
d
em
o
n
s
tr
ate
th
e
ef
f
ec
tiv
e
n
e
s
s
o
f
t
h
e
p
r
o
p
o
s
ed
m
et
h
o
d
in
ac
h
ie
v
i
n
g
h
i
g
h
-
p
r
ec
is
io
n
ca
lib
r
atio
n
w
i
th
a
n
er
r
o
r
o
f
ap
p
r
o
x
i
m
atel
y
6
c
m
.
R
ea
l
-
w
o
r
ld
ap
p
licatio
n
s
o
f
UW
B
-
b
ased
p
o
s
itio
n
i
n
g
ca
n
b
e
f
o
u
n
d
i
n
[
1
6
]
,
[
1
7
]
.
Desp
ite
t
h
ese
ad
v
a
n
ta
g
es,
th
e
d
ep
lo
y
m
en
t
o
f
UW
B
tech
n
o
lo
g
y
o
n
lo
w
-
co
s
t
m
icr
o
co
n
tr
o
ller
u
n
i
ts
(
MCUs
)
r
e
m
ain
s
u
n
d
er
ex
p
lo
r
ed
.
W
h
ile
m
o
s
t
r
esear
c
h
h
as
f
o
cu
s
ed
o
n
UW
B
i
m
p
le
m
en
tatio
n
u
s
i
n
g
h
ig
h
-
p
er
f
o
r
m
a
n
ce
,
o
f
te
n
co
s
tl
y
,
h
ar
d
w
ar
e,
th
e
p
o
ten
t
ial
f
o
r
i
n
teg
r
atin
g
UW
B
w
it
h
a
f
f
o
r
d
ab
le
MCUs
i
s
s
i
g
n
if
ican
t
,
esp
ec
iall
y
f
o
r
ap
p
licatio
n
s
r
eq
u
ir
in
g
lar
g
e
-
s
ca
le
d
ep
lo
y
m
en
t
o
r
co
s
t
-
s
e
n
s
iti
v
e
en
v
ir
o
n
m
e
n
t
s
.
T
h
is
p
ap
er
aim
s
to
f
ill
th
i
s
g
ap
b
y
ex
p
er
i
m
e
n
t
all
y
v
al
id
atin
g
an
i
n
d
o
o
r
p
o
s
itio
n
in
g
s
y
s
te
m
t
h
at
u
t
ilizes
U
W
B
tec
h
n
o
lo
g
y
i
n
co
n
j
u
n
ctio
n
w
i
th
a
lo
w
-
co
s
t
MCU,
o
f
f
er
in
g
a
s
ca
lab
le
an
d
co
s
t
-
ef
f
ec
t
iv
e
s
o
l
u
tio
n
f
o
r
h
i
g
h
-
p
r
ec
is
io
n
in
d
o
o
r
lo
ca
lizatio
n
.
2.
T
H
E
P
RO
P
O
SE
D
SYS
T
E
M
T
h
e
ar
ch
itectu
r
e
o
f
t
h
e
p
r
o
p
o
s
ed
s
y
s
te
m
is
d
ep
icted
in
Fi
g
u
r
e
1
.
Ou
r
s
y
s
te
m
ca
n
b
e
d
iv
id
ed
in
to
t
w
o
m
ai
n
p
ar
ts
:
p
o
s
itio
n
in
g
an
d
tr
ac
k
in
g
.
T
h
e
p
o
s
itio
n
in
g
p
ar
t
co
n
s
is
ts
o
f
UW
B
DW
1
0
0
0
[
1
8
]
ch
ip
s
co
n
n
ec
ted
to
m
icr
o
co
n
tr
o
ller
s
.
T
h
e
y
co
n
s
is
t
o
f
m
u
ltip
le
a
n
ch
o
r
s
a
n
d
a
tag
.
I
n
th
e
p
o
s
it
io
n
i
n
g
p
ar
t,
t
h
e
lo
ca
t
io
n
s
o
f
t
h
e
a
n
ch
o
r
s
ar
e
co
n
s
id
er
ed
to
b
e
k
n
o
w
n
i
n
ad
v
an
ce
.
T
h
e
task
o
f
th
e
s
y
s
te
m
is
to
d
eter
m
i
n
e
t
h
e
u
n
k
n
o
wn
lo
ca
tio
n
o
f
t
h
e
tag
w
h
e
n
th
e
s
ig
n
al
s
o
f
n
ea
r
b
y
an
ch
o
r
s
ar
e
av
aila
b
le.
B
y
ex
ch
a
n
g
i
n
g
UW
B
p
ac
k
ets,
th
e
tag
ex
tr
ac
ts
in
f
o
r
m
a
tio
n
ab
o
u
t th
e
ti
m
e
o
f
ar
r
iv
al
(
T
OA
)
b
et
w
ee
n
it a
n
d
m
u
ltip
le
an
ch
o
r
s
an
d
ca
lcu
late
s
th
e
d
is
tan
ce
.
W
h
en
th
e
ta
g
h
a
s
co
llected
th
e
d
is
ta
n
ce
to
at
lea
s
t
3
an
c
h
o
r
s
,
th
e
m
icr
o
co
n
tr
o
l
ler
th
en
ca
lcu
la
tes
t
h
e
lo
ca
tio
n
o
f
th
e
tag
t
h
r
o
u
g
h
th
e
leas
t
s
q
u
ar
e
m
et
h
o
d
.
T
h
e
r
e
tu
r
n
ed
lo
ca
tio
n
s
ar
e
m
u
ltip
le
p
o
in
ts
a
n
d
ten
d
to
b
e
u
n
s
tab
le.
T
h
er
ef
o
r
e,
a
Kal
m
an
f
ilter
[
1
9
]
is
a
d
d
ed
to
s
tab
ilize
th
e
m
.
T
h
e
tr
ac
k
in
g
p
ar
t
co
n
s
is
t
s
o
f
a
s
er
v
er
an
d
a
co
n
tr
o
l
m
o
n
ito
r
.
I
t
h
as
th
e
f
u
n
ctio
n
o
f
r
ec
eiv
i
n
g
i
n
f
o
r
m
at
io
n
f
r
o
m
th
e
p
o
s
itio
n
in
g
p
ar
t
an
d
d
is
p
la
y
in
g
t
h
e
lo
ca
tio
n
in
f
o
r
m
at
io
n
o
f
th
e
ta
g
to
th
e
s
u
b
s
cr
ib
er
s
.
T
h
e
co
n
n
e
ctio
n
b
et
w
ee
n
t
h
ese
b
lo
c
k
s
is
th
e
m
e
s
s
a
g
e
q
u
e
u
e
tele
m
etr
y
tr
an
s
p
o
r
t
p
r
o
to
co
l
(
MQ
T
T
)
[
2
0
]
.
MQ
T
T
h
er
ein
is
a
p
r
o
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co
l
f
o
r
m
e
s
s
a
g
e
tr
an
s
m
i
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io
n
b
ased
o
n
t
h
e
p
u
b
lis
h
/
s
u
b
s
cr
ib
e
m
o
d
el.
I
t
r
elies
o
n
a
b
r
o
k
er
(
in
ter
m
ed
ia
r
y
p
o
in
t)
an
d
is
d
esig
n
ed
to
b
e
o
p
en
,
n
o
t
tied
to
an
y
s
p
ec
i
f
i
c
ap
p
licatio
n
,
v
er
y
s
i
m
p
le,
a
n
d
ea
s
y
to
in
te
g
r
ate,
e
s
p
ec
iall
y
d
u
e
to
its
f
ast
p
r
o
ce
s
s
in
g
s
p
ee
d
.
I
t
is
p
ar
ticu
lar
l
y
w
el
l
-
s
u
ited
f
o
r
I
n
ter
n
et
o
f
T
h
in
g
m
o
d
el
s
.
Fo
r
th
e
p
r
o
p
o
s
ed
I
P
S,
w
h
ic
h
ar
e
t
y
p
icall
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l
o
ca
l
s
y
s
te
m
s
i
n
a
f
i
x
ed
s
p
ac
e,
MQ
T
T
en
s
u
r
es
lo
w
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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L
KOM
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K
A
T
elec
o
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m
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n
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(
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g
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c
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n
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o
n
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)
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laten
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n
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e
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ited
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eso
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r
ce
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c
h
as m
e
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s
s
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g
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ee
d
,
MQ
T
T
is
o
n
e
o
f
th
e
o
p
ti
m
a
l c
h
o
ices.
Fig
u
r
e
1
.
A
r
ch
itectu
r
e
o
f
p
r
o
p
o
s
ed
UW
B
-
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ased
in
d
o
o
r
p
o
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itio
n
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g
s
y
s
te
m
3.
M
E
T
H
O
D
3
.
1
.
Sin
g
le
-
s
ided t
w
o
-
wa
y
ra
ng
ing
(
SS
-
T
WR)
SS
-
T
W
R
in
v
o
l
v
es
a
s
tr
aig
h
t
f
o
r
w
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m
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r
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n
t
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ip
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e
(
R
T
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)
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f
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s
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le
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es
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e
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en
t
f
r
o
m
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e
n
o
d
e
to
an
o
th
er
,
f
o
llo
w
ed
b
y
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r
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s
e
s
e
n
t
b
ac
k
to
th
e
o
r
ig
in
al
n
o
d
e.
T
h
e
o
p
er
atio
n
o
f
SS
-
T
W
R
is
illu
s
tr
ated
in
Fi
g
u
r
e
2
,
w
h
er
e
a
ta
g
s
tar
ts
t
h
e
e
x
c
h
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g
e
an
d
an
an
c
h
o
r
r
esp
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n
d
s
to
c
o
m
p
lete
it.
I
n
o
r
d
er
to
ca
lcu
late
th
e
ti
m
e
o
f
f
l
ig
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t
(
T
o
F),
ea
ch
d
ev
ice
w
ill
r
ec
o
r
d
i
ts
ti
m
es
ta
m
p
a
n
d
attac
h
it
to
t
h
e
m
es
s
a
g
e
w
h
en
e
v
er
it
is
s
en
d
i
n
g
o
r
r
ec
eiv
i
n
g
.
B
as
ed
o
n
Fi
g
u
r
e
2
,
t
h
e
m
at
h
e
m
at
i
ca
l
r
ep
r
esen
tatio
n
o
f
T
o
F,
d
en
o
ted
b
y
τ
,
w
o
u
ld
b
e
:
=
1
2
(
1
−
1
)
(
1
)
w
h
er
e
1
an
d
1
ar
e
R
T
T
an
d
p
r
o
ce
s
s
i
n
g
ti
m
e
(
o
r
d
ela
y
ti
m
e)
o
f
th
e
an
ch
o
r
,
r
esp
ec
ti
v
el
y
.
B
ec
a
u
s
e
ea
ch
d
ev
ic
e
h
as t
h
eir
o
w
n
lo
ca
l c
lo
ck
,
ea
c
h
T
o
F is
in
d
ep
en
d
en
tl
y
m
ea
s
u
r
ed
an
d
th
er
ef
o
r
e
co
n
tain
s
th
e
i
r
clo
c
k
o
f
f
s
et
er
r
o
r
.
Fig
u
r
e
2
.
Sin
g
le
-
s
id
ed
t
w
o
-
w
a
y
r
an
g
in
g
p
r
o
to
co
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6930
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
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t E
l
C
o
n
tr
o
l
,
Vo
l.
23
,
No
.
5
,
Octo
b
e
r
20
25
:
1
3
6
3
-
1
373
1366
3
.
2
.
Sy
mm
et
ric
do
ub
le
-
s
i
de
d t
w
o
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y
s
ra
ng
ing
(
SDS
-
T
WR)
SDS
-
T
W
R
is
a
m
eth
o
d
th
at
r
eq
u
ir
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b
o
th
d
ev
ices
to
h
av
e
s
y
n
ch
r
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n
ized
clo
ck
s
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d
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s
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s
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f
m
es
s
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e
s
ex
c
h
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g
ed
b
et
w
ee
n
th
e
t
w
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d
ev
ices.
T
h
e
f
ir
s
t
m
e
s
s
ag
e
is
s
e
n
t
f
r
o
m
t
h
e
in
i
tiato
r
(
tag
)
to
th
e
r
esp
o
n
d
er
(
an
ch
o
r
)
,
an
d
th
e
an
ch
o
r
s
en
d
s
a
r
esp
o
n
s
e
m
e
s
s
a
g
e
b
ac
k
to
th
e
tag
.
T
h
e
tim
e
s
ta
m
p
s
o
f
th
ese
m
e
s
s
a
g
es
ar
e
u
s
ed
to
ca
lcu
late
t
h
e
R
T
T
an
d
th
er
ef
o
r
e
th
e
d
i
s
tan
ce
b
et
w
ee
n
t
h
e
t
w
o
d
ev
i
ce
s
.
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t
th
e
b
e
g
in
n
i
n
g
,
th
e
ta
g
d
ev
ice
w
ill
s
en
d
a
p
r
o
b
in
g
p
ac
k
et
(
a
p
o
ll)
to
n
eig
h
b
o
r
in
g
d
ev
ices.
W
h
e
n
n
ea
r
b
y
an
c
h
o
r
d
ev
ices
r
ec
eiv
e
th
e
p
ac
k
et,
th
e
y
w
il
l
r
esp
o
n
d
b
ac
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to
th
e
tag
w
ith
a
p
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k
et
w
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th
an
o
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h
er
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m
e
s
ta
m
p
.
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h
en
t
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e
tag
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ice
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eiv
es
t
h
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r
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s
e
p
ac
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et
f
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o
m
t
h
e
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n
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r
,
it
w
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r
ec
o
r
d
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e
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m
e
o
f
r
ec
ep
tio
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r
e
s
p
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n
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e
a
n
d
co
m
p
o
s
e
th
e
f
i
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al
n
o
tific
atio
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to
s
e
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d
.
B
ased
o
n
r
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o
r
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ed
tim
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m
p
s
,
an
c
h
o
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n
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eter
m
i
n
e
t
h
e
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o
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an
d
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e
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ce
t
h
e
d
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ta
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ce
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etw
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n
it
a
n
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th
e
tag
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h
e
p
r
o
ce
d
u
r
e
o
f
th
e
SDS
-
T
W
R
p
r
o
t
o
co
l is illu
s
tr
ated
b
y
Fig
u
r
e
3
.
A
s
s
h
o
w
n
i
n
Fi
g
u
r
e
3
,
w
e
h
a
v
e
:
Fig
u
r
e
3
.
Do
u
b
le
-
s
id
ed
t
w
o
-
wa
y
r
an
g
in
g
p
r
o
to
co
l
1
=
2
+
1
(
2
)
2
=
2
+
2
(
3
)
T
h
is
is
eq
u
i
v
alen
t to
(
4
)
.
=
1
−
2
+
2
−
1
4
(
4
)
T
ak
in
g
i
n
to
ac
co
u
n
t
th
e
c
lo
ck
d
r
if
t
er
r
o
r
,
s
a
y
an
d
,
af
f
ec
t
in
g
m
ea
s
u
r
e
m
e
n
t
s
,
i.e
.
,
̂
1
=
(
1
+
A
)
1
=
1
1
,
̂
2
=
(
1
+
)
2
=
2
2
,
̂
2
=
(
1
+
)
2
=
1
2
,
an
d
̂
1
=
(
1
+
)
1
=
2
1
,
th
e
esti
m
ated
T
o
F is
:
̂
=
̂
1
−
̂
2
+
̂
2
−
̂
1
4
(
5
)
T
h
e
er
r
o
r
b
etw
ee
n
esti
m
ated
a
n
d
ex
ac
t T
o
F is
th
en
(
6
)
:
̂
−
=
(
1
−
2
)
+
(
2
−
1
)
4
(
6
)
R
ep
lacin
g
1
an
d
2
w
it
h
(
2
)
an
d
(
3
)
,
r
esp
ec
tiv
el
y
,
w
e
f
i
n
all
y
h
a
v
e
(
7
)
:
̂
−
=
1
2
(
+
)
+
1
4
(
−
)
(
1
−
2
)
(
7
)
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
K
A
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l
C
o
n
tr
o
l
E
xp
erimen
ta
l v
a
lid
a
tio
n
o
f p
o
s
itio
n
in
g
a
n
d
tr
a
ck
in
g
s
ystem
u
s
in
g
u
ltr
a
-
w
id
eb
a
n
d
a
n
d
…
(
N
g
o
c
-
S
o
n
D
u
o
n
g
)
1367
3
.
3
.
Asy
mm
et
ric
do
ub
le
-
s
id
ed
t
w
o
-
wa
y
ra
n
g
ing
(
ADS
-
T
WR)
T
h
e
tim
e
s
ta
m
p
e
x
ch
a
n
g
e
f
o
r
ADS
-
T
W
R
is
th
e
s
a
m
e
as
SD
S
-
T
W
R
,
b
u
t
th
e
m
at
h
e
m
atica
l
m
an
ip
u
lat
io
n
is
d
if
f
er
en
t
[
2
1
]
.
Star
tin
g
b
y
m
u
ltip
l
y
in
g
(
2
)
an
d
(
3
)
,
w
e
h
av
e
:
1
2
=
(
2
+
1
)
(
2
+
2
)
(
8
)
T
h
is
is
eq
u
i
v
alen
t to
(
9
)
:
1
2
−
2
1
=
2
(
2
+
1
+
2
)
(
9
)
T
h
en
,
w
e
o
b
tain
:
1
2
−
2
1
=
2
(
1
+
2
)
(
1
0
)
1
2
−
2
1
=
2
(
2
+
1
)
(
1
1
)
Fro
m
(
2
)
an
d
(
3
)
,
th
e
y
i
m
p
l
y
t
h
at
(
1
+
2
)
=
(
2
+
1
)
w
h
ic
h
ca
n
b
e
u
s
ed
to
r
e
w
r
ite
as
(
1
2
)
:
=
1
2
−
2
1
1
+
2
+
2
+
1
(
1
2
)
C
o
n
s
id
er
in
g
clo
c
k
d
r
if
t,
t
h
e
es
ti
m
ated
T
o
F is
m
o
d
eled
as
(
1
3
)
:
̂
=
̂
1
̂
2
−
̂
2
̂
1
̂
1
+
̂
2
+
̂
2
+
̂
1
(
1
3
)
Si
m
i
lar
to
th
e
SDS
-
T
W
R
,
w
e
h
av
e
(
1
4
)
an
d
(
1
5
)
:
̂
=
1
2
2
1
2
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ein
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(
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all
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t
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p
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ter
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m
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s
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as
(
3
1
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:
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(
−
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|
−
1
(
3
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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1369
4.
RE
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e,
it
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s
also
a
w
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p
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T
h
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m
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Fo
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