Distributed Beacon Drifting Detection for Localization in Unstable Environments

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="865983.fig.003a" src="https://static.hindawi.com/articles/mpe/volume-2013/865983/figures/865983.fig.003a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>High beacon density, small number of drifting beacons </td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="865983.fig.003b" src="https://static.hindawi.com/articles/mpe/volume-2013/865983/figures/865983.fig.003b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Low beacon density, large number of drifting beacons </td></tr></table></td></tr></table>

<table>The variances of RSSI measurement value in different networks.</table>

Mathematical Problems in Engineering

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Figure 3

Figure 3: Distributed Beacon Drifting Detection for Localization in Unstable Environments 