Algorithm of Underground Personnel Positioning Based on Improved Monte Carlo

Algorithm 1

 

Algorithm based on improved Monte Carlo.

Step 1. The mobile node listens to the beacon node broadcast and selects the beacon node corresponding to the maximum 3 RSSI as the positioning node.

Step 2. The selected beacon node constructs the possible location area of the mobile node one by one according to the RSSI size.

Step 3. Take the intersection of the MCL sampling area and the location area in Step 2, which is the final sampling area of the algorithm.

Step 4. Select samples at random and initialize the sample weights.

Step 5. Filter samples and update sample weights.

Step 6. Determine whether the number of remaining samples is sufficient or whether the maximum sampling times are reached. If yes, continue; otherwise, go to Step 4.

Step 7. Normalize the weight of the sample and calculate the coordinates of the mobile node.