Table 2: Localization error averaged over the N estimated sensor nodes’ positions for each of the three considered testbeds when using the small data set of 10 positions (up) and the big data set of 25 (down).
Testbed Experience 1 Experience 2 Experience 3
Method B-MLE DSA B-MLE DSA B-MLE DSA
MD(m) 1.39 0.77 2.73 1.73 1.85 1.3
NMD 0.28 0.16 0.25 0.16 0.18 0.13
Improvement (%) 44.3 36.7 29.5
Positions improved(%) 76 72 74
Testbed Experience 1 Experience 2 Experience 3
Method B-MLE DSA B-MLE DSA B-MLE DSA
MD(m) 1.35 1.31 2.27 1.64 2.27 1.84
NMD 0.27 0.26 0.22 0.15 0.22 0.18
Improvement(%) 3.8 30.5 19
Positions improved (%) 55 63 68