An Energy-Efficient Underground Localization System Based on Heterogeneous Wireless Networks

. 2015 May 26;15(6):12358–12376. doi: 10.3390/s150612358


Algorithm 1: After receiving the step data sent by the MN.

1.	Start:
2.	Let $P_{i^{new}}^{m} = {T_{i^{end}}^{m} + T_{f}, T_{i^{end}}^{m} + T_{f} + T_{p}^{l}}$
3.	If $P_{i^{new}}^{m} \cap P^{m} = 0$
4.	Goto Label 1
5.	Else
6.	Update $P_{i^{new}}^{m} = {T_{i^{new}}^{m} + T_{f}, T_{i^{new}}^{m} + T_{f} + T_{p}^{l} + T_{o}^{i^{new}}}$
7.	Adjust $T_{o}^{i^{new}}$ by TSU, to satisfy $P_{i^{new}}^{m} \cap P^{m} = 0$
8.	Label 1:
9.	Let $P_{i}^{m} = P_{i^{new}}^{m}$
10.	$P^{m} = P^{m} \cup P_{i}^{m}$
11.	End