Table 1.

Summary of the simulation parameters. PLE, path loss exponent; PF, particle filter.

Parameter	Description	Value
N	The number of sensors	3 (for static case) or 2 (for mobile case)
${\mathit{a}}_{i,0}$	The true initial sensor locations	$[{[70,10]}^T,{[40,70]}^T{[10,40]}^T]$ (m)
$P_0$	The reference power	$-10$ (dBm)
$\gamma$	The assumed PLE	3
${\gamma }_{i,t}$	The true PLE for i-th link	${\gamma }_{i,t}\sim \mathcal{U}[2.7,3.3]$
$\mathrm{\Delta }$	The sampling interval	1 (s)
T	The duration of the trajectory	150 (s)
$M_c$	The number of Monte Carlo runs	1000
$\parallel {\mathit{v}}_t\parallel$	The target’s speed	1 (m/s)
$\parallel {\mathit{v}}_a\parallel$	The sensors’ speed	Varies in the simulations
$\tau$	The threshold distance	5 (m)
${\sigma }_{n_i}$	The RSS noise power	9 (dB)
${\sigma }_{m_i}$	The AoA noise power	4 (degrees)
q	The state process noise	$2.5\times {10}^{-3}$ (${\mathrm{m}}^2/{\mathrm{s}}^3$)
$N_{\mathrm{PF}}$	The number of particles in the PF	200