A=-95dbm

No.of Simulation

n=10.8
offset=-45
n=-95
X-est
Y-est
X-actual Y-actual
1
29.27
-18.17
30
-20
2
12.51
9.4
10
10
3
-3.44
-19.07
0
-20
4
16.46
6.76
15
10
5
23.55
1.93
25
5
6
20
6.72
20
10
7
27.21
5.87
30
5
8
11.44
13.62
10
15
9
16.45
-1.93
15
-5
10
8.98
13.23
7
13

total sum
mean (Average)
S.D

X-est

sum
mean

X-actual error
29.27
30
12.51
10
-3.44
0
16.46
15
23.55
25
20
20
27.21
30
11.44
10
16.45
15
8.98
7

0.73
2.51
3.44
1.46
1.45
0
2.79
1.44
1.45
1.98
17.25
1.725

Y-est
-18.17
9.4
-19.07
6.76
1.93
6.72
5.87
13.62
-1.93
13.23

Localization Error (Meter)

1.97
2.58
3.56
3.55
3.40
3.28
2.92
1.99
3.40
1.99

x-x,y-y
power

-0.48
0.2304

25

0.56
0.3136

20

0
40
20

15

0
0
20

10

28.65
2.86

Y-Axis
Y-actual

0
-10

error
-20
10
-20
10
5
10
5
15
-5
13

1.83
0.6
0.93
3.24
3.07
3.28
0.87
1.38
3.07
0.23
18.5
1.85

-5

-10

-15
3; -19.07

-20

3;

-25

25

0.544 sum
0.737564 sqr 20

10; 13.23 8;
10; 13

15

2; 10
10

15
8; 13.62

2; 9.4

4; 10

4; 6.76

6; 10
7; 5.87

6; 6.72
5
5; 5

5; 1.93
0
-10

0
-5

10

20
9; -1.93

30

9; -5

-10

-15
3; -19.07

1;
-20
3; -20
-25

Y- Axis

7; 5.87

7; 5
5; 5

5; 1.93
30

1; -18.17
1; -20

40

50

X Y Real Position
X Y Estimated Position
Anchor Node

eal Position
timated Position
r Node

A=-51dbm
No.of Simulation

n=8.05
X-est

total sum
mean (Average)
S.D

X-est

158.12
16.9125
8.31744

X-actual
29.81
13.13
-8.74
16.91
22.98
20
26.35
11.61
17.02
9.05

sum
mean

offset=-45
Y-est
X-actual Y-actual
29.81
-13.56
30
13.13
6.58
10
-8.74
-12.35
0
16.91
10.19
15
22.98
12.04
25
20
10.6
20
26.35
9.45
30
11.61
6.87
10
17.02
-12.04
15
9.05
7.41
7
25.19
2.1041
11.00654

error
30
10
0
15
25
20
30
10
15
7

162
16.2
9.99778

-20
10
-20
10
5
10
5
15
-5
13

23
2.3
12.97904

Y-est
0.19
3.13
8.74
1.91
2.02
0
3.65
1.61
2.02
2.05
25.32
2.532

-13.56
6.58
-12.35
10.19
12.04
10.6
9.45
6.87
-12.04
7.41

Localization Error

20

15

10

X-Axis

-10

-5

0
-5

Y-actual

error
-20
10
-20
10
5
10
5
15
-5
13

6.44
3.42
7.65
0.19
7.04
0.6
4.45
8.13
7.04
5.59
50.55
5.055

-10

3; -12.35
-15

-20

-25

3; -2

20

8; 15

15

10; 13
10

10; 7.41

4; 10 4; 10.19

2; 10

6; 10
6; 10.6

8; 6.87

2; 6.58
5

0
-5

10

15

20

9; -5

-5

-10

9; -12.04

35
-15

-20

3; -20

-25

Y-Axis

5; 1

6; 10

5; 12.04
7; 9.45

6; 10.6

5; 5

20

12.04

25

7; 5

30

35

Y-est X-actual
X-actual Y-actual

1; -13.56

1; -20

A=-85dbm
No.of Simulation

total sum
mean (Average)
S.D

X-est

-17.31
7.74
-17.99
3.69
5.87
3.4
2.73
12.49
-5.87
12.19

30
10
0
15
25
20
30
10
15
7

-20
10
-20
10
5
10
5
15
-5
13

Localization Error
2.69
3.36
4.92
6.34
1.7
6.47
3.6
2.83
1.68
2.05

161.55
16.144
9.89

6.94
0.752
10.99

162
16.2
9.997

23
2.3
12.979

35.64
3.564
1.784

X-actual
29.42
12.59
-4.43
16.52
23.46
20
27.09
11.43
16.54
8.93

sum
mean

n=10.17
X-est
Y-est
29.42
12.59
-4.43
16.52
23.46
20
27.09
11.43
16.54
8.93

X-actual

error
30
10
0
15
25
20
30
10
15
7

Y-actual

Y-est
0.58
2.59
4.43
1.52
1.54
0
2.91
1.43
1.54
1.93
18.47
1.847

Y-actual
-17.31
7.74
-17.99
3.69
5.87
3.4
2.73
12.49
-5.87
12.19

Y-Axis
error

-20
10
-20
10
5
10
5
15
-5
13

2.69
2.26
2.01
6.31
0.87
6.6
2.27
2.51
0.87
0.81
27.2
2.72

-10

20
8; 15
15
10; 13

10; 12.19 8; 12.49

2; 10

10

4; 10

6; 10

2; 7.74

5; 5.
4; 3.69

6; 3.4

Y-Axis

-10

-5

-5

10

15
9; -5

-10

-15

3; -17.99
-20

3; -20

-25

X-Axis

20

9; -5.87

-25

X-Axis

6; 10
5; 5.87

5; 5

7; 5

6; 3.4

7; 2.73
20

25

30

35

X-est Y-est
X-actual Y-actual

-5.87

1; -17.31
1; -20

A=-95
0ffset=-35 n=9.99
No.of SimulX-est
Y-est
X-actual Y-actual
Localization Error
29.47
-17.04
30
-20
12.61
7.16
10
10
-4.75
-17.64
0
-20
16.54
1.94
15
10
23.43
6.62
25
5
20
1.09
20
10
27.04
0.89
30
5
11.42
12.12
10
15
16.57
-6.62
15
-5
8.92
11.86
7
13
total sum
mean (Average)
S.D

X-est
X-actual error
29.47
30
12.61
10
-4.75
0
16.54
15
23.43
25
20
20
27.04
30
11.42
10
16.57
15
8.92
7
sum
mean

0.53
2.61
3.44
1.54
1.57
0
2.96
1.42
1.57
1.92

17.56
1.756

Y-est
Y-actual
error
-17.04
-20
7.16
10
-17.64
-20
1.94
10
6.62
5
1.09
10
0.89
5
12.12
15
-6.62
-5
11.86
13

2.96
2.84
2.36
8.06
1.62
8.91
4.11
2.88
1.62
1.14
36.5
3.65

No. of Simulation

A(dBm)
1
2
3
4
5
6
7
8
9
10

B(dBm)
-71
-34
-44
-40
-53
-48
-61
-40
-36
-35

C(dBm)
-48
-63
-86
-55
-36
-48
-29
-67
-53
-70

-80
-34
-86
-29
-36
-27
-40
-29
-53
-35

D1
33.5m
11.55m
15.4m
13.72m
19.95m
17.28m
25.12m
13.73m
12.23m
11.89m

D2
17.3m
28.53m
51.6m
21.13m
12.23m
17.28m
10m
29.85m
19.95m
32.55m

D3
41.92m
11.55m
51.6m
10m
12.23m
9.44m
13.72m
10m
19.95m
11.89m

D1
34.14m
14.78m
18.53m
16.93m
22.72m
20.29m
27.23m
16.93m
15.46m
15.12m
1
2
3
4
5
6
7
8
9
10

D2
20.29m
28.49m
47.94m
23.77m
15.46m
20.29m
13.20m
31.18m
22.72m
33.38m
-58
-21
-31
-27
-40
-35
-48
-27
-23
-22

D3
41.85m
14.78m
47.94m
13.20m
15.46m
12.61m
16.93m
13.20m
22.72m
15.12m
-35
-50
-73
-42
-23
-35
-16
-54
-40
-57

-67
-21
-73
-16
-23
-14
-27
-16
-40
-22

D1
34.45m
15.65m
19.37m
17.79m
23.47m
21.10m
27.84m
17.79m
16.34m
15.99m

D2
21.10m
29.05m
47.44m
24.49m
16.34m
21.10m
14.07m
31.64m
23.47m
33.73m

D3
41.74m
15.65m
47.44m
14.07m
16.34m
13.48m
17.79m
14.07m
23.47m
15.99m

34.04m
14.50m
18.27m
16.66m
22.48m
20.03m
27.03m
16.66m
15.19m
14.84m

20.03m
28.31m
48.10m
23.54m
15.19m
20.03m
12.92m
31.04m
22.48m
33.26m

41.89m
14.50m
48.10m
12.92m
15.19m
12.34m
16.66m
12.92m
22.48m
14.84m