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

Table 2

Mean error and gain of proposed scheme versus standards ranging methods.

	RSSI	ToA	Proposed	Proposed versus RSSI gain (%)	Proposed versus ToA gain (%)
Scenario A mean error (m)	13.91	4.31	4.31	69.01	0
Scenario B mean error (m)	3.76	8.62	3.76	0	56.38
Scenario C mean error (m)	5.72	7.92	5.72	0	27.77
Scenario D mean error (m)	6.41	3.13	3.13	51.17	0
Mean of means error (m)	7.45	5.99	4.23	43.22	29.38