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

Figure 10

Estimation results through a sequence of sensor nodes’ movements. First configuration is shown in Figure 9.

(a) 2nd configuration

(b) 3rd configuration

(c) 4th configuration

(d) 5th configuration

(e) 6th configuration

(f) 7th configuration

(g) 8th configuration

(h) 9th configuration