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 | | | |