Fig. 5
From: Reducing the impact of location errors for target tracking in wireless sensor networks
Methodology phases: (1) a newly deployed sensor network with beacon and unknown nodes; (2) a localization algorithm is applied, moreover several distance estimates are used to improve the tracking accuracy; (3) three or more nodes detect the target and compute its position; (4) the target position is sent to the sink node; (5) the sink node performs the tracking algorithm for predict the future target position and reduce the measurement noise, then back to phase three