Energy-Efficient Node Scheduling Method for Cooperative Target Tracking in Wireless Sensor Networks

Algorithm 2

Adaptive node selection algorithm combining with Kalman-consensus filter (ANS-KCF).

is a small number

While

 Number of tasking node

 Calculate for every node in and sort it in ascending order

 While (n < length(V))

  Compute by using (16)

  If , break

  Else ,

  End;

  For to 1,

  Predict for sensor node using Algorithm 1 with

   If and

    , break

   End;

  End;

 End

 If

 Else if

 End

End