定位机制研究(Localization) The difference between the measured and the actual distances can be represented by pi=d-di.Owing to ranging noises in d,pi is often non-zero in practice. The least squares method is used to assign a value to (xO,yO)that minimizes >21P2.This problem can be solved by a numerical solution to an over-determined linear system. (x0,y0) (x2,y2) 0 d2 2 d3 (x3,y3)定位机制研究（Localization） • The difference between the measured and the actual distances can be represented by �" = �" # − �". Owing to ranging noises in �" # , �" is often non-zero in practice. • The least squares method is used to assign a value to (x0, y0) that minimizes ∑"+$ , �" %. This problem can be solved by a numerical solution to an over-determined linear system. (x0, y0) (x1, y1) (x3, y3) (x2, y2) �$ �% �&