Robust Floor Determination Algorithm for Indoor Wireless Localization Systems under Reference Node Failure

Algorithm 1

Pseudo code for RMoS floor algorithm.

Input: Specify , , , , the initial value of

Output: Floor number on which the target node is situated at the confidence level

(1) The target node scans for RSS sent from the reference nodes.

  (Begin the floor determination step)

(2)  Repeat

(3)   Repeat

(4)    Compute the RSS summation

(5)   Until

(6)   Set

(7)  Until

(8)  Set the confidence level = the specified initial value

(9)  Calculate with %CI = for all

(10)    If of any floor is overlapped

(11)   Repeat

(12)     Reduce the confidence level

(13)     Calculate with %CI = for all

(14)   Until no overlap of

(15)     is the %CI of sum of the strongest RSS from for all

(16)    The floor where the target node is located is associated with

     the floor that has the highest at the confidence level .

      at the confidence level c