Neighborhood Kalman Estimation for Distributed Localization in Wireless Sensor Networks

Table 1

Comparison results of accuracy for the CNKF and AFL algorithms.

Conditions		MLE (m)			GER (%)
(m)		AFL	CNKF	Enhanced	AFL	CNKF	Enhanced
15	≈7	0.040	0.020	50%	0.15	0.05	67%
20	≈10	0.035	0.015	57%	0.15	0.05	67%
25	≈15	0.035	0.015	57%	0.15	0.05	67%
30	≈20	0.040	0.015	63%	0.20	0.05	75%
35	≈27	0.045	0.015	67%	0.25	0.05	80%
40	≈35	0.050	0.015	70%	0.25	0.05	80%

: communication radius.
: average connectivity.