Research Article
Optimal Uncalibrated RSS Indoor Positioning and Optimal Reference Node Placement Using Cramér-Rao Lower Bound
Table 2
CRLB RMSE. Coordinates are
and
: fractions of
the inter-APs distance (the meshing density).
| | (,) | I | Not calibrated | Calibrated APs | Calibrated APs & targets |
| | 5 | (0.5, 0.5) | 1 | 2.13 | 0.48 | 0.48 | | 5 | (0.5, 0.5) | 20 | 2.08 | 0.11 | 0.11 | | 5 | (0.1, 0.5) | 1 | 3.14 | 1.95 | 1.16 | | 5 | (0.1, 0.5) | 20 | 3.09 | 1.87 | 1.01 | | 10 | (0.5, 0.5) | 1 | 4.26 | 0.96 | 0.96 | | 10 | (0.5, 0.5) | 20 | 4.15 | 0.21 | 0.21 | | 10 | (0.1, 0.5) | 1 | 6.27 | 3.89 | 2.31 | | 10 | (0.1, 0.5) | 20 | 6.17 | 3.73 | 2.03 | | 20 | (0.5, 0.5) | 1 | 8.51 | 1.92 | 1.92 | | 20 | (0.5, 0.5) | 20 | 8.30 | 0.43 | 0.43 | | 20 | (0.1, 0.5) | 1 | 12.54 | 7.79 | 4.62 | | 20 | (0.1, 0.5) | 20 | 12.35 | 7.47 | 4.05 |
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