A Mobile Node Filter Method in Wireless Sensor Network Based on Improved MH Particle

An improved grouped particle filter algorithm is designed to pre-process the RSSI (received signal strength indicator) signal which includes plenty of background noise in wireless sensor network communication. This algorithm ensures the monotonic function relation between RSST value and distance of nodes. The coordinate space which was quantized by using RSSI value is used to describe the robot´s state and target position. The filtering and navigation calculation are executed through multiple nodes at the same time, which enhances the real time performance of the algorithm. The simulation results and measured data show the efficacy of the method.