latest result fyp

8/16/2019 Latest Result Fyp

1/40

-10 0 10 20 30 40

-10

0

10

20

30

X Y Estimated Position

X Y Real Position

Anchor Node

X-Axis

0 15


2/40

A=-95dbm n=10! o"set=-45 distance =40

Noo# $im%lation X-est Y-est X-act%al Y-act%al

1 1251 94 10 10

2 1&4& &'& 15 10

3 20 &'2 20 10

4 2354 &'& 25 10

5 2!5& 13&2 30 15

& 20 1131 20 15

' 1&21 120! 15 15

! 1144 13&2 10 15

9 1&45 193 15 5

10 -052 159! 0 15

total s%m

mean (A)era*e+

$,

X-est X-act%al error Y-est

1251 10 251 94

1&4& 15 14& &'&

20 20 0 &'2

2354 25 14& &'&

2!5& 30 144 13&2

20 20 0 1131

1&21 15 121 120!

1144 10 144 13&2

1&45 15 145 193

-052 0 052 159!

s%m 1149

mean 1149


3/40

ocali.ation Error (/eter+

25! -- -052 09!

355 oer 02'04 09&04 1230!

32! 1109414

355

199

3&9

31& 0 0

199 40 0

340 15 20

111

2!31

2!3

0!'

Y-act%al error

10 0&

10 324

10 32!

10 324

15 13!

15 3&9

15 292

15 13!

5 30'

15 09!

23'!

23'!

0

1

2

3

4

5

&

'

!

9

Localization Error


4/40

s%m

s7r

Noo# $im%lation

1 25! 419

2 355 !4&

3 32! '&0

4 355 !4&

5 199 344

& 3&9 &33

' 31& 3&3

! 199 41!

9 340 23&

10 111 14!

1 2 3 4 5 & ' !0

0

0

0

0

0

0

0

0

0

25!

35532!

355

199

3&9

31&

199

419

!4&

'&0

!4&

344

&33

3&3

41

Number of Simulation


5/40

9 10

340

111

23&

14!

-95dm R$$6 $ensiti)it

-!0 dm R$$6 $ensiti)it


6/40

A=-!0dbm n=9!& o"set=-45 distance =40

Noo# $im%lation X-est Y-est X-act%al Y-act%al ocali.ation Error (/eter+

1 12&4 &'4 10 10 419

2 1&5& 1&9 15 10 !4&

3 20 24 20 10 '&0

4 2344 1&9 25 10 !4&

5 2!5' 11!' 30 15 344

& 20 !&' 20 15 &33

' 1&25 9'4 15 15 3&3

! 119' 1131 10 15 41!9 1&'2 &&2 15 5 23&

10 -142 1459 0 15 14!

total s%m 5013

mean (A)era*e+ 501

$, 252&95

X-est X-act%al error Y-est Y-act%al error

12&4 10 2&4 &'4 10 32&

1&5& 15 15& 1&9 10 !31

20 20 0 24 10 '&

2344 25 15& 1&9 10 !312!5' 30 143 11!' 15 313

20 20 0 !&' 15 &33

1&25 15 125 9'4 15 52&

119' 10 19' 1131 15 3&9

1&'2 15 1'2 &&2 5 -1&2

-142 0 142 1459 15 -041

s%m 1355 43!&

mean 1355 43!&


7/40


8/40

-- -142 -041

oer 201&4 01&!1 21!45 s%m

14'!005s7r

0 0

40 015 20

-10 0 10 20

-10

0

10

20

30

Axis Title


9/40

Axis Title


10/40

30 40 50


X Y Real Position

Anchor Node


11/40


12/40

A=-95dbm n=10! o"set=-45 n=-95 distance=35


1 11! 113' 10 10

2 1544 1049 15 10

3 195& 1049 20 10

4 23&2 11! 25 10

5 2!&! 1591 30 15

& 19&9 1409 20 15

' 155! 144& 15 15

! 1113 149! 10 15

9 155 '25 15 5

10 -023 1&'5 0 15

total s%m

mean (A)era*e+

$,


11! 10 1! 113'

1544 15 044 1049

195& 20 044 1049

23&2 25 13! 11!

293& 30 0&4 1&1&

1942 20 05! 144&

155! 15 05! 144&

1113 10 113 149!

155 15 05 '25

-023 0 023 1&'5

s%m ''2

mean 0''2


13/40


22& -- -023 1'5

0&& oer 00529 30&25 31154

0&& 1'&505

22'

132

0'9

0'9 0 0

113 35 0

230 15 20

1''

139&

140

0'

Y-act%al error

10 13'

10 049

10 049

10 1!

15 11&

15 054

15 054

15 002

5 225

15 1'5

1041

1041

-10

Y-Axis


14/40

s%m

s7r

0 10 20

-10

0

10

20

30

18 10 28 10 38 10 48 10

&8 15'8 15!8 15

98 5

108 15 18 113'

28 104938 1049

48 11!

&8 1409'8 144&!8 149!

98 '25

108 1&'5

X-Axis


15/40

30 40

58 15

58 1591

X Y Estimated PositionX Y Real Position

Anchor Node


16/40

A=-95dbm n=10! o"set=-45 n=-95 distance=30


1 1093 129& 10 10

2 15 1221 15 10

3 190' 129& 20 10

4 233& 133 25 10

5 3039 1'33 30 15& 1932 1&13 20 15

' 1535 15!5 15 15

! 10&! 1&13 10 15

9 15 943 15 5

10 049 1'33 0 15

total s%m

mean (A)era*e+

$,


1093 10 093 129&

15 15 0 1221

190' 20 093 129&

233& 25 1&4 133

3039 30 039 1'33

1932 20 0&! 1&13

1535 15 035 15!5

10&! 10 0&! 1&13

15 15 0 943

049 0 049 1'33

s%m &09

mean 0&09


17/40


310 -- 049 233

221 oer 02401 542!9 5&&9

310 23!09&&

3&9

23&132

092 0 0

132 40 0

443 20 20

23!

24!3 0 0

24! 15 30 0

112 15 20

Y-act%al error

10 29&

10 221

10 29&

10 33

15 233

15 113

15 0!5

15 113

5 443

15 233

23&3

23&3

-10

Y- Axis


18/40

s%m

s7r

0 10 20

-10

0

10

20

30

18 10 28 10 38 10 48

&8 15'8 15!8 15

98 5

108 15

129&1221

129& 133

1&1315!51&13

943

1'33

X- Axis


19/40

30 40

0

58 15

1'33


X Y Real Position

Anchor Node


20/40

Noo# $im%lation ocali.ation Error (/eter+

1 310

2 221

3 310

4 3&9

5 23&

& 132

' 092

! 132

9 443

10 23!


1 22&

2 0&&

3 0&&

4 22'

5 132

& 0'9

' 0'9

! 113

9 230

10 1''


1 25!

2 355

3 32!

4 355

5 199

& 3&9

' 31&

! 199

9 340

10 111


21/40

00

05

10

15

20

25

30

35

40

45

50

Localization Error (Meter


22/40

0 1 2 3 4 5 & ' ! 9

25!

355

32!

355

199

3&9

31&

199

34

22&

0&& 0&&

22'

132

0'9 0'9

113

23

310

221

310

3&9

23&

132

092

132

44

Number of simulation


23/40

10 11

111

1''

23!

,istance o# 30m

inear (,istance o# 30m+,istance o# 35m

inear (,istance o# 35m+

,istance o# 40m

inear (,istance o# 40m+


24/40

3535di"

ocali.ation Error (/eter+ ocali.ation Error (/eter+

22& 24'

0&& 224

0&& 21'

22' 195

132 1!5

0'9 349

0'9 31'

113 305

230 0!&

1'' 055


25/40

Noo# $im%lation

1

2

3

4

5

&

'

!

9

10

0

000

050

100

150

200

250

300

350

400

Axis Title


26/40

1 2 3 4 5 & '

24'

22421'

1951!5

349

31'

22&

0&& 0&&

22'

132

0'9 0'9

Axis Title


27/40

! 9 10 11

305

0!&

055

113

230

1''

ocali.ation Error 1inear (ocali.ation Error 1+

ocali.ation Error 2

inear (ocali.ation Error 2+


28/40


29/40


24' -- -023 05

224 oer 00529 025 03029

21' 05503&4

195

1!5

349

31' 0 0

305 35 0

0!& 15 20

055

21!2

21!

095

Y-act%al error

10 1&9

10 22

10 213

10 13!

15 13

15 34!

15 312

15 2!3

5 0'

15 05

1933

1933

-

Y- Axis


30/40

s%m

s7r

10 0 10 20

-10

0

10

20

30

18 10 28 10 38 10

&8 15'8 15!8 15

98 5

108 15

18 !3128 '! 38 '!'48

&8 1152'8 11!!!8 121'

98 43

108 155

Y-Axis


31/40

30 40

8 10

58 15

&2

58 13'

X Y Estimated PositionX Y Real Position

Anchor Node


32/40

A=-95dbm n=10! o"set=-45 n=-95 distance =40 3530


1 11! 113' 10 10

2 1544 1049 15 10

3 195& 1049 20 10

4 23&2 11! 25 10

5 2!&! 1591 30 15

& 19&9 1409 20 15

' 155! 144& 15 15

! 1113 149! 10 15

9 155 '25 15 5

10 -052 159! 0 15

total s%m

mean (A)era*e+

$,


11! 10 1! 113'

1544 15 044 1049

195& 20 044 1049

23&2 25 13! 11!

2!&! 30 132 1591

19&9 20 031 1409

155! 15 05! 144&

1113 10 113 149!

155 15 05 '25

-052 0 052 159!

s%m !42

mean 0!42


33/40


22& -- -052 09!

0&& oer 02'04 09&04 1230!

0&& 1109414

22'

132

0'9

0'9 0 0

113 40 0

230 20 20

111 35 0

30 0

1330

133

0&!'9

Y-act%al error

10 13'

10 049

10 049

10 1!

15 091

15 091

15 054

15 002

5 225

15 09!

9'&

09'&

A


34/40

-10 0 10 20

-10

0

10

20

30

Axis Title

xis Title


35/40

30 40 50


X Y Real Position

Anchor Node


36/40


37/40

Noo# $im%lation m method 40m

1 22& 25!

2 0&& 355

3 0&& 32!

4 22' 355

5 132 199

& 0'9 3&9

' 0'9 31&

! 113 199

9 230 340

10 111 111


38/40

1 2 3

000

050

100

150

200

250

300

350

400

22&

0&& 0&&

25!

355

3

Localization Error


39/40

4 5 & ' ! 9 10

22'

132

0'9 0'9

113

230

111

2!

355

199

3&9

31&

199

340

111

Number of Simulation


40/40

Ne Enhancement /ethod

Normal $im%lation 40 meters

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