Combining Kalman Filtering with ZigBee Protocol to Improve Localization in Wireless Sensor Network

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr class="thead"><td align="left">Methods</td><td align="center">RVI-RSSI</td><td align="center">RVI-LQI</td><td align="center">RVI-LQI-<svg height="12.4375" id="M111" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 8.9125004 12.4375" width="8.9125004" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.162)"><path d="M494 514l-10 -15q-56 76 -106.5 117t-110.5 41q-45 0 -45 -30q0 -28 109 -152q59 -68 86 -118.5t27 -107.5q0 -62 -29.5 -119.5t-86.5 -96.5q-64 -45 -138 -45q-76 0 -121.5 53t-45.5 136q0 74 40.5 135t98.5 95q43 26 87 42q-40 59 -57.5 92t-17.5 62q0 46 39 77.5
t90 31.5q54 0 97.5 -35.5t65 -78.5t28.5 -84zM359 234q0 84 -90 191q-47 -17 -74 -47q-81 -89 -81 -200q0 -71 32.5 -109.5t72.5 -38.5q47 0 80 33t46.5 77.5t13.5 93.5z" id="x1D6FF"></path></g>
</svg></td><td align="center">RVI-<svg height="12.4375" id="M112" style="vertical-align:-0.1638pt" version="1.1" viewbox="0 0 8.9125004 12.4375" width="8.9125004" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g transform="matrix(.017,-0,0,-.017,.062,12.162)"><path d="M494 514l-10 -15q-56 76 -106.5 117t-110.5 41q-45 0 -45 -30q0 -28 109 -152q59 -68 86 -118.5t27 -107.5q0 -62 -29.5 -119.5t-86.5 -96.5q-64 -45 -138 -45q-76 0 -121.5 53t-45.5 136q0 74 40.5 135t98.5 95q43 26 87 42q-40 59 -57.5 92t-17.5 62q0 46 39 77.5
t90 31.5q54 0 97.5 -35.5t65 -78.5t28.5 -84zM359 234q0 84 -90 191q-47 -17 -74 -47q-81 -89 -81 -200q0 -71 32.5 -109.5t72.5 -38.5q47 0 80 33t46.5 77.5t13.5 93.5z" id="x1D6FF"></path></g>
</svg>-EKF</td></tr><tr><td class="thead-hr" colspan="5"><hr/></td></tr><tr><td align="left">Localization error [m]</td><td align="center">28.13</td><td align="center">16.92</td><td align="center">5.72</td><td align="center">0.66</td></tr><tr class="table-tr"><td colspan="5"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Comparison of different methods of localization—error of localization.

International Scholarly Research Notices

tab3

Table 3

Table 3: Combining Kalman Filtering with ZigBee Protocol to Improve Localization in Wireless Sensor Network 