An Anchor-Free Localization Scheme with Kalman Filtering in ZigBee Sensor Network

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="356231.fig.002a" src="https://static.hindawi.com/articles/isrn/volume-2013/356231/figures/356231.fig.002a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Configuration of the network with five nodes</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="356231.fig.002b" src="https://static.hindawi.com/articles/isrn/volume-2013/356231/figures/356231.fig.002b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Localization for three nodes</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="356231.fig.002c" src="https://static.hindawi.com/articles/isrn/volume-2013/356231/figures/356231.fig.002c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Connecting the fourth node</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="356231.fig.002d" src="https://static.hindawi.com/articles/isrn/volume-2013/356231/figures/356231.fig.002d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>Connecting the fifth node</td></tr></table></td></tr></table>

<table>An example of localization procedure with five sensor nodes.</table>

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Figure 2: An Anchor-Free Localization Scheme with Kalman Filtering in ZigBee Sensor Network 