Distributed Beacon Drifting Detection for Localization in Unstable Environments

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="865983.fig.006a" src="https://static.hindawi.com/articles/mpe/volume-2013/865983/figures/865983.fig.006a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Different number of beacons </td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="865983.fig.006b" src="https://static.hindawi.com/articles/mpe/volume-2013/865983/figures/865983.fig.006b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Different number of drifting beacons  </td></tr></table></td></tr></table>

<table>Detection performance comparison.</table>

Mathematical Problems in Engineering

fig6

Figure 6

Figure 6: Distributed Beacon Drifting Detection for Localization in Unstable Environments 