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Table 2 Average location error for all transmitter locations.

Now, the algorithm should avoid HPLM method when the average location error is over 4 m.

For all the scenarios, as expected, the users' satisfaction decreases when the average location error increases.

Figure 14 and Table 5 shows the average location error and estimated location in the simulation respectively.

Comparatively, the average location error in different densities of anchor nodes in MCL-DE is less than RMCL and DLS.

Therefore, in this case, the MR method should be followed when the average location error is over 2 m.

Fig. 5 Relationship between moving speed and average location errors.

The average location errors are given in Table 3.

Average location errors are 1.2 km in the horizontal direction and 1.3 km in depth.

The localization algorithms were executed on each message, and the average location errors for each transmitter location are depicted in Figure 12.

The HPLM outperforms the MR method for low average location errors; however, that threshold would depend on the type of femtocell.