Table 2 Relations between the general model (1) and the considered time-based and RSS-based localization modelsa
General model (1) | y | H | x | G | u |
|---|---|---|---|---|---|
TSE model (25) | δ (k−1) | Δ (k−1) | x t | 1 N×1 | r 0 |
SD-TOA model (31b) | D1′z 1 | D1′A1′ | x t | D1′A1″ | \([||\mathbf {x}_{t}||_{2}^{2}-{r_{0}^{2}}, r_{0}]^{T}\) |
SD-TDOA model (36b) | D2′z 2 | D2′A2′ | x t | D2′A2″ | r j |
SD-RSS model (43b) | D h | F ′ | \([\mathbf {x}_{t}^{T}, ||\mathbf {x}_{t}||_{2}^{2}]^{T}\) | 1 N×1 | P0′ |