Cooperative Scheme ToA-RSSI and Variable Anchor Positions for Sensors Localization in 2D Environments

Table 1

Basic RSSI and ToA mean error relative to anchors location.

Anchors coordinates (m)	Deployed sensor nodes	Mean localization error using standard RSSI	Mean localization error using standard ToA
A: (9, 9), (11, 9), (11, 11), (9, 11)	100	13.91	4.31
B: (6 ,6), (14, 6), (14, 14), (6, 14)	100	3.76	8.62
C: (3, 3), (17, 3), (17, 17), (3, 17)	100	5.72	7.92
D: (0, 0), (20, 0), (20, 20), (0, 20)	100	6.41	3.13