A Robust Indoor Mobile Localization Algorithm for Wireless Sensor Network in Mixed LOS/NLOS Environments

Table 1

Key notions.

Symbol	Explanation	Symbol	Explanation
N	The number of beacon nodes		The measured distance between mobile node and beacon node at time k
Ti	The interval time of sampling		The weakening factor in STUKF
	The covariance of the beacon node at time k (STUKF)		The covariance of the beacon node at time (REKF)
	The distance for iteration (STUKF)		The distance for iteration (REKF)
	The distance value of each individual in genetic evolution algorithm		The coordinates of MN in a 2D plane
	The covariance correction factor at the time k		The speed value of the previous three moments
	The covariance matrix at time k (GEUPF)	NN	The number of population size
	The terminate condition of genetic evolution algorithm		The fuse distance from STUKF and REKF
	The distance after STUKF processing		The distance after REKF processing