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develop the application procedure which can meet the sending and receiving data of
the coordinator, communication protocols and the serial commands. Then download
through USB to the experiment plane, finally, to control the positioning process by
the defined serial port commands.
(a) (b)
Fig. 4.
Localization experiments, any part of the nodes selected as research the localiza-
tion object, the experimental results were shown in Table 2. The experiment sepa-
rately takes the DV-HOP algorithm(D) and the increasing circulation refinement
link's LDV-HOP(L), the part unknown node estimate coordinate and the error listed in
Table 2. The "actual coordinate" is the real(x, y) coordinate of the node; and the
"measurement coordinate" is the estimated coordinate through the DV-Hop algorithm
and after increasing the circulation and refinement links' algorithm, the error calcu-
lated by the following formula (2).
2
(
)
2
(
y
y
)
(2)
x
x
err
=
+
Rval
Eval
Rval
Eval
LDV-HOP with increasing circulation refinement link which is localization
method with the limited jumps, through setting a threshold hop count N, the number
data packet of threshold limit is bigger. The node receives the fewer of hop count due
to reduce the communication load of overall network. Meanwhile, the sum of jump
Table 2. Measurement data
Number of hops
away from reference
node 0, 1, 2 D/L
Actual
coordinate
Measurement
coordinate D/L
Node ID
Error D/L
3
(31.7,12.8)
(46.3,43.7)/(37.3,23.9)
34.15/12.46
(4.3.7)/(4.3.5)
6
(37.5,13.9)
(46.3,43.7)/(41.8,33.9)
31.01/20.44
(4.3.7)/(4.3.6)
7
(20.5,12.8)
(57.8,48.1)/(40.7,32.0)
51.33/27.86
(6.5.9)/(6.5.3)
11
(27.5,9.7)
(52.0, 45.9)/(34.4,19.7)
43.71/12.07
(5.4.8)/(5.4.4)
18
(15.1,19.6)
(82.3,107.4)/(23.3,29.9)
110.53/13.2
(3.4.10)/(3.4.2)
23
(32.9,12.8)
(46.3,43.7)/(38.6,24.3)
33.68/12.87
(4.3.7)/(4.3.5)
28
(28.6,7.4)
(52.0, 45.9)/(35.9,19.3)
45.06/13.04
(5.4.8)/(5.4.4)
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