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t
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v
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a
b
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it
y
o
f
sm
a
rt
d
e
v
ice
s,
in
d
o
o
r
lo
c
a
li
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ti
o
n
h
a
s
b
e
c
o
m
e
o
n
e
o
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t
h
e
m
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st
in
tere
stin
g
to
p
ics
in
n
u
m
e
ro
u
s
l
o
c
a
ti
o
n
-
b
a
se
d
se
rv
ice
s.
Wh
e
re
se
v
e
r
a
l
m
e
th
o
d
s
h
a
v
e
b
e
e
n
a
d
o
p
te
d
to
e
stim
a
te
a
n
d
lo
c
a
li
z
e
th
e
m
o
b
il
e
a
n
d
u
se
r
lo
c
a
ti
o
n
.
Th
e
e
a
rli
e
st
a
n
d
m
o
st
in
tere
stin
g
m
e
th
o
d
wa
s
b
a
se
d
o
n
re
c
e
iv
e
d
sig
n
a
l
stre
n
g
th
(RS
S
)
m
e
a
su
re
m
e
n
t.
Ho
we
v
e
r,
su
c
h
m
e
th
o
d
h
a
s
sh
o
we
d
we
a
k
n
e
ss
in
h
a
n
d
li
n
g
th
e
a
c
c
u
ra
te
e
stim
a
ti
o
n
re
su
lt
s.
Re
c
e
n
tl
y
,
re
se
a
rc
h
e
rs
sta
rt
g
a
th
e
r
se
v
e
ra
l
d
iffere
n
t
m
e
th
o
d
s
to
a
c
h
iev
e
t
h
e
a
d
v
a
n
tag
e
s
o
f
e
a
c
h
m
e
th
o
d
a
n
d
a
c
h
iev
e
h
ig
h
e
r
a
c
c
u
ra
te
e
stim
a
ti
o
n
.
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n
c
e
,
in
t
h
is
p
a
p
e
r
a
h
y
b
rid
lo
c
a
li
z
a
ti
o
n
a
lg
o
r
it
h
m
h
a
s
b
e
e
n
d
e
sig
n
e
d
a
n
d
p
ro
p
o
se
d
b
a
se
d
o
n
th
e
u
se
o
f
b
o
th
RS
S
a
n
d
a
n
g
le
-
of
-
a
rriv
a
l
(Ao
A)
.
T
h
e
a
lg
o
rit
h
m
h
a
s
b
e
e
n
tes
ted
i
n
a
th
re
e
-
d
ime
n
si
o
n
a
l
in
d
o
o
r
b
u
il
d
in
g
;
we
a
re
tak
in
g
th
e
e
ffe
c
t
s
o
f
d
iffere
n
t
b
u
il
d
i
n
g
m
a
teria
ls.
Th
e
re
su
lt
s
we
re
o
b
tain
e
d
d
e
p
e
n
d
i
n
g
o
n
th
e
m
e
a
su
re
m
e
n
t
o
f
RS
S
a
n
d
Ao
A
g
a
th
e
re
d
fro
m
e
a
c
h
re
c
e
iv
e
d
p
o
i
n
t
a
n
d
b
y
u
si
n
g
tw
o
AP
d
e
v
ice
s
fo
r
m
o
re
a
c
c
u
ra
c
y
in
p
o
siti
o
n
i
n
g
c
o
o
r
d
i
n
a
ti
o
n
,
t
h
e
ty
p
e
o
f
t
h
e
tran
sm
it
ters
is d
irec
ti
o
n
a
l
.
K
ey
w
o
r
d
s
:
Ao
A
lo
ca
lizatio
n
I
n
d
o
o
r
co
m
m
u
n
icatio
n
R
SS
W
ir
eles
s
I
n
Sit
e
W
ir
eles
s
I
n
Sit
e
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r
th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Ma
h
m
o
o
d
.
F.
Mo
s
leh
Dep
ar
tm
en
t o
f
C
o
m
p
u
ter
E
n
g
i
n
ee
r
in
g
T
ec
h
n
iq
u
es,
E
lectr
ical
E
n
g
in
ee
r
i
n
g
T
ec
h
n
ical
C
o
lleg
e
Mid
d
le
T
ec
h
n
ical
Un
iv
e
r
s
ity
B
ag
h
d
ad
,
I
r
aq
E
m
ail:
d
r
m
ah
m
o
o
d
f
a
r
h
an
@
g
m
ail.
co
m
1.
I
NT
RO
D
UCT
I
O
N
L
o
ca
tio
n
-
awa
r
e
b
ased
s
er
v
ic
es
h
av
e
b
ee
n
k
n
o
wn
to
b
e
o
n
e
o
f
th
e
m
o
s
t
in
ter
esti
n
g
elem
en
t
o
f
lo
ca
lizatio
n
p
r
o
ce
s
s
.
An
d
t
h
is
d
o
n
e
b
y
co
m
p
u
tin
g
th
e
l
o
ca
tio
n
s
o
f
wir
eless
r
ec
eiv
e
d
p
o
in
ts
with
in
th
e
tar
g
eted
ar
ea
[
1
]
.
L
o
ca
lizatio
n
ca
n
b
e
d
ef
in
ed
as t
h
e
p
r
o
ce
s
s
o
f
d
eter
m
in
in
g
t
h
e
ab
s
o
lu
te
v
alu
e
o
f
p
h
y
s
ical
lo
ca
tio
n
o
f
a
s
p
ec
if
ic
r
ec
eiv
ed
p
o
in
t o
r
tar
g
et
[
2
]
.
Alth
o
u
g
h
,
g
lo
b
al
p
o
s
itio
n
in
g
s
y
s
tem
(
GPS)
h
as a
ca
p
ab
ilit
y
to
p
r
o
v
id
e
a
n
ac
cu
r
ate
lo
ca
tio
n
i
n
f
o
r
m
atio
n
.
Ho
wev
er
,
it
s
h
o
ws
in
ef
f
ec
tiv
en
ess
in
in
in
d
o
o
r
en
v
ir
o
n
m
e
n
t
d
u
e
to
th
e
h
u
g
e
ef
f
ec
ts
o
f
m
u
ltip
ath
p
r
o
p
ag
ati
o
n
o
f
wir
eless
s
ig
n
al
[
3
]
.
I
n
th
e
last
p
ast
y
ea
r
s
,
s
ev
er
al
r
esear
ch
es
f
o
c
u
s
o
n
lo
ca
li
za
tio
n
esti
m
atio
n
a
n
d
d
ev
elo
p
ed
m
a
n
y
ap
p
r
o
ac
h
es
to
i
n
cr
ea
s
es
th
e
es
tim
ated
ac
cu
r
ac
y
.
L
o
ca
lizatio
n
b
ased
o
u
t
d
o
o
r
en
v
ir
o
n
m
en
t
co
u
ld
b
e
p
er
f
o
r
m
e
d
b
y
d
ep
e
n
d
in
g
o
n
GPS
an
d
c
o
u
ld
ac
h
iev
e
ac
ce
p
tan
ce
ac
c
u
r
ac
y
an
d
r
eliab
ilit
y
in
lo
ca
t
io
n
esti
m
atio
n
[
4
]
.
Ho
wev
er
,
m
o
v
in
g
f
o
r
war
d
in
d
o
o
r
en
v
i
r
o
n
m
e
n
ts
GPS
h
as
s
h
o
wed
a
wea
k
n
ess
in
esti
m
atio
n
,
d
u
e
t
o
m
a
n
y
r
ea
s
o
n
s
r
elate
d
with
t
h
ese
en
v
i
r
o
n
m
en
ts
s
u
ch
as
its
co
m
p
le
x
ity
an
d
th
e
p
r
esen
ce
o
f
d
if
f
er
e
n
t
walls,
o
b
jects
an
d
o
b
s
tacle
s
[
5
]
.
As
a
r
esu
lt,
it
is
v
er
y
im
p
o
r
tan
t
to
p
er
f
o
r
m
in
d
o
o
r
lo
ca
lizatio
n
at
a
lo
wer
co
s
t
an
d
h
ig
h
er
ac
cu
r
ac
y
[
6
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
Hyb
r
id
lo
ca
liz
a
tio
n
a
lg
o
r
ith
m
b
a
s
ed
o
n
r
ec
eive
d
s
ig
n
a
l str
en
g
th
a
n
d
… (
Ma
h
m
o
o
d
F
.
Mo
s
leh
)
455
Gen
er
ally
,
lo
ca
lizatio
n
s
ch
e
m
es
co
u
ld
b
e
class
if
ied
in
to
two
ty
p
es
wh
ich
ar
e
r
an
g
e
-
f
r
ee
an
d
r
an
g
e
-
b
ased
s
ch
em
es.
I
n
th
e
f
i
r
s
t
ty
p
e,
lo
ca
lizatio
n
o
f
th
e
r
ec
eiv
ed
p
o
in
t d
ep
en
d
s
o
n
th
e
n
et
wo
r
k
co
n
n
ec
tiv
ity
an
d
s
u
ch
m
eth
o
d
d
o
n
’
t
r
eq
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ir
e
ex
tr
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h
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war
e.
H
o
wev
er
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it
s
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ac
y
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wer
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d
r
eq
u
ir
e
m
an
y
n
u
m
b
er
s
o
f
a
cc
ess
p
o
in
ts
(
AP
's)
d
ev
ices
to
im
p
r
o
v
e
its
ac
cu
r
ac
y
[
2
]
.
On
th
e
o
th
er
h
an
d
,
r
an
g
e
d
-
b
ased
m
e
th
o
d
co
u
ld
ac
h
iev
e
b
etter
ac
cu
r
ac
y
wh
er
e
s
ev
e
r
al
m
eth
o
d
s
h
av
e
b
ee
n
p
r
esen
te
d
to
m
ea
s
u
r
e
th
e
tim
e
o
f
ar
r
i
v
al
(
T
o
A)
,
an
g
le
-
of
-
ar
r
iv
al
(
Ao
A)
,
tim
e
d
if
f
e
r
en
ce
o
f
a
r
r
iv
al
(
T
Do
A)
an
d
r
ec
ei
v
ed
s
ig
n
al
s
tr
en
g
t
h
(
R
SS
)
to
o
b
tain
th
e
d
is
tan
ce
o
r
an
g
les,
wh
ich
in
tu
r
n
wo
u
l
d
b
e
u
s
ed
to
ca
lcu
late
th
e
lo
ca
t
io
n
co
o
r
d
in
atio
n
'
s
[
7
-
1
0
]
.
Sev
er
al
ty
p
es
o
f
th
ese
m
ea
s
u
r
em
en
ts
r
eq
u
ir
e
e
x
tr
a
h
a
r
d
war
e
an
d
c
o
s
t.
Fo
r
ex
am
p
le,
T
o
A
an
d
T
Do
A
s
h
o
ws h
ig
h
e
r
s
en
s
itiv
ity
to
tim
e
er
r
o
r
an
d
th
u
s
r
eq
u
ir
e
s
y
n
c
h
r
o
n
ized
tim
er
s
to
s
y
n
ch
r
o
n
o
u
s
th
e
AP
d
ev
ice.
Fu
r
th
er
m
o
r
e,
it so
m
etim
es
r
eq
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ir
es
a
s
p
ec
ial
m
ed
iu
m
to
h
an
d
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th
e
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g
is
s
u
e.
On
th
e
o
th
er
h
an
d
,
Ao
A
b
ased
l
o
ca
lizatio
n
m
eth
o
d
h
as
b
ee
n
u
tili
ze
d
in
wid
ely
m
an
n
er
.
Ho
wev
er
,
it
r
eq
u
ir
es
h
ig
h
er
co
s
t
eq
u
ip
m
en
t
to
o
b
tain
th
e
r
eq
u
ir
e
d
an
g
les.
I
n
ad
d
itio
n
,
it
wo
u
ld
s
h
o
w
in
ef
f
ec
tiv
en
ess
with
in
in
d
o
o
r
en
v
ir
o
n
m
en
t
w
h
ich
in
clu
d
e
s
ev
er
al
r
ef
lectio
n
s
an
d
d
if
f
r
ac
tio
n
s
.
Un
lik
e
all
o
th
er
m
et
h
o
d
s
,
R
SS
b
ased
lo
ca
li
za
tio
n
co
u
ld
b
e
r
ep
r
esen
ted
as
th
e
lo
west
co
s
t
m
eth
o
d
a
n
d
th
e
ea
s
iest
m
eth
o
d
to
b
e
p
er
f
o
r
m
e
d
,
b
u
t
with
r
elativ
ely
lo
wer
ac
cu
r
ate
r
esu
lts
.
R
S
S
b
ased
lo
ca
lizati
o
n
ca
n
b
e
class
if
ied
in
to
g
r
o
u
p
s
s
u
ch
as
p
r
o
p
ag
ati
o
n
m
o
d
el
[
1
1
,
1
2
]
,
p
r
o
x
im
ity
[
1
3
,
1
4
]
an
d
f
in
g
e
r
p
r
in
tin
g
[
1
5
,
1
6
]
.
I
n
th
e
f
ir
s
t
g
r
o
u
p
,
it
an
aly
ze
s
th
e
r
elatio
n
b
etwe
en
th
e
R
SS
an
d
th
e
d
is
ta
n
ce
b
ased
o
n
s
o
m
e
k
n
o
wn
p
ar
am
eter
s
s
u
ch
as
p
ath
lo
s
s
ex
p
o
n
en
t
(
PLE
)
.
I
n
p
r
o
x
im
ity
-
b
ased
m
eth
o
d
s
t
h
e
r
e
ce
iv
ed
p
o
in
t
b
r
o
ad
ca
s
t
a
n
in
i
tializin
g
p
ac
k
et
f
o
r
in
itializat
io
n
th
e
p
r
o
ce
s
s
.
T
h
en
a
m
ea
s
u
r
ed
R
SS
v
alu
e
f
r
o
m
r
ef
er
en
ce
n
o
d
e
is
r
ep
o
r
ted
in
o
r
d
er
to
n
o
m
in
ate
th
e
r
ec
eiv
ed
p
o
in
t
o
r
tar
g
et.
I
n
th
e
g
r
o
u
p
o
f
f
i
n
g
er
p
r
in
tin
g
,
its
m
ea
s
u
r
e
th
e
v
al
u
e
o
f
R
SS
f
r
o
m
a
s
tatic
s
et
o
f
p
o
in
ts
d
u
r
in
g
th
e
f
ir
s
t
p
h
ase
(
i
n
itializatio
n
p
h
ase)
th
en
th
e
lo
ca
lizati
o
n
p
h
ase
r
eq
u
ir
e
m
atc
h
in
g
b
et
wee
n
th
e
f
i
n
g
er
p
r
in
t
v
alu
es a
n
d
esti
m
ated
v
alu
es [
2
]
.
I
n
th
is
wo
r
k
,
a
h
y
b
r
id
-
b
ased
l
o
ca
lizatio
n
alg
o
r
ith
m
wo
u
l
d
b
e
r
ep
r
esen
ted
b
y
co
m
b
i
n
in
g
b
o
t
h
m
eth
o
d
s
o
f
Ao
A
an
d
R
SS
m
ea
s
u
r
em
en
t
an
d
b
y
u
s
in
g
two
d
ir
ec
t
io
n
al
an
ten
n
a
ty
p
e
AP
d
ev
ices
as
a
r
ef
er
en
ce
d
ev
ice
to
lo
ca
lize
s
ev
er
al
r
ec
eiv
e
d
p
o
in
ts
(
tar
g
ets)
d
is
tr
ib
u
ted
with
i
n
th
e
two
f
lo
o
r
s
o
f
o
u
r
ca
s
e
s
tu
d
y
.
Dir
ec
tio
n
al
an
ten
n
as
f
o
c
u
s
th
e
R
F
en
er
g
y
in
a
p
a
r
ticu
lar
d
i
r
ec
tio
n
,
w
h
e
r
e
in
cr
ea
s
in
g
t
h
e
g
ain
o
f
th
e
d
ir
e
ctio
n
al
an
ten
n
a
wo
u
ld
in
cr
ea
s
e
th
e
co
v
er
a
g
e
d
is
tan
ce
,
b
u
t
th
e
ef
f
ec
tiv
e
co
v
er
ag
e
an
g
le
wo
u
ld
b
e
d
ec
r
e
ase.
Fo
r
d
ir
ec
tio
n
al
an
ten
n
as,
th
e
lo
b
es
ar
e
p
u
s
h
ed
in
a
ce
r
tain
d
ir
ec
tio
n
a
n
d
litt
le
en
er
g
y
is
th
er
e
o
n
th
e
b
ac
k
s
id
e
o
f
th
e
an
te
n
n
a
,
Un
lik
e
th
e
Om
n
i
d
ir
e
ctio
n
al
AP
an
ten
n
as
wh
ich
wo
u
ld
h
av
e
a
s
im
ilar
r
ad
iatio
n
p
atter
n
.
T
h
e
s
e
an
ten
n
as
p
r
o
v
id
e
a
3
6
0
-
d
eg
r
ee
h
o
r
izo
n
tal
r
ad
iat
io
n
p
atter
n
.
O
u
r
p
r
esen
ted
alg
o
r
ith
m
wo
u
l
d
co
n
s
id
er
t
h
e
in
d
o
o
r
lo
ca
lizatio
n
a
n
d
th
e
ef
f
ec
ts
o
f
d
if
f
er
e
n
t
b
u
ild
i
n
g
m
ater
ials
o
n
p
ath
p
r
o
p
ag
a
tio
n
b
y
d
ep
en
d
in
g
o
n
t
h
e
r
es
u
lts
o
b
tain
ed
f
r
o
m
W
ir
eles
s
I
n
Sit
e
(
W
I
)
s
o
f
twar
e
[
1
7
]
.
T
h
e
r
est
o
f
p
ap
er
is
f
o
r
m
ed
as
f
o
llo
w,
r
elate
d
w
o
r
k
s
is
d
is
cu
s
s
ed
in
s
ec
tio
n
2
,
s
ec
ti
o
n
3
an
d
4
p
r
esen
ts
th
e
h
y
b
r
id
alg
o
r
ith
m
a
n
d
its
m
eth
o
d
o
lo
g
y
r
esp
ec
tiv
ely
.
Sectio
n
5
p
r
esen
ts
th
e
ca
s
e
s
tu
d
y
,
an
d
f
in
ally
s
ec
t
io
n
6
a
n
d
7
d
is
cu
s
s
ed
th
e
r
esu
l
ts
an
d
co
n
clu
s
io
n
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
e
r
ec
e
n
t
ef
f
o
r
ts
o
f
r
esear
ch
e
r
an
d
in
d
u
s
tr
y
h
av
e
r
esu
lted
in
th
e
d
e
v
elo
p
m
e
n
t
o
f
d
if
f
er
e
n
t
ap
p
r
o
ac
h
es
f
o
r
b
o
th
ac
cu
r
ate
an
d
lo
w
-
co
s
t
lo
ca
lizatio
n
m
eth
o
d
s
f
o
r
in
d
o
o
r
en
v
ir
o
n
m
en
t.
On
e
o
f
t
h
e
m
o
s
t
in
ter
esti
n
g
m
eth
o
d
was
b
ased
o
n
th
e
u
s
e
o
f
Ao
A
m
ea
s
u
r
em
e
n
t,
wh
er
e
it
ca
n
b
e
esti
m
ated
b
y
f
in
d
in
g
th
e
m
ax
im
u
m
o
r
m
in
im
u
m
s
ig
n
al
s
tr
en
g
t
h
,
d
u
r
in
g
th
e
r
o
tatio
n
o
f
a
d
ir
ec
ti
o
n
al
o
r
a
n
o
n
-
id
ea
l
o
m
n
id
ir
e
ctio
n
al
an
ten
n
a
as
in
[
1
8
,
1
9
]
,
Oth
er
r
esear
ch
er
s
in
[
20
]
p
r
o
p
o
s
ed
a
n
alter
n
ativ
e
m
eth
o
d
f
o
r
e
m
u
latin
g
th
e
f
u
n
ctio
n
o
f
d
ir
ec
tio
n
al
an
ten
n
a
an
d
d
e
v
elo
p
in
g
an
o
u
t
d
o
o
r
lo
ca
lizatio
n
s
y
s
tem
.
I
n
th
i
s
ap
p
r
o
ac
h
,
th
e
u
s
er
wo
u
ld
ca
r
r
y
th
e
m
ea
s
u
r
e
m
en
t
d
ev
ice
o
r
s
m
ar
tp
h
o
n
e
an
d
r
o
tate
h
is
b
o
d
y
b
y
3
6
0
d
e
g
r
ee
an
d
r
ec
o
r
d
s
g
r
o
u
p
s
o
f
R
SS
m
ea
s
u
r
em
en
t.
T
h
e
esti
m
ated
an
g
u
lar
er
r
o
r
was
r
a
n
g
in
g
b
etwe
en
3
0
-
5
0
d
e
g
r
ee
f
o
r
lin
e
-
of
-
s
ig
h
t
(
L
o
S)
ca
s
es
an
d
ab
o
u
t 6
0
d
e
g
r
ee
s
f
o
r
n
o
n
-
lin
e
-
of
-
s
ig
h
t
(
NL
o
S)
c
ases
.
On
t
h
e
o
th
er
h
an
d
,
r
esear
ch
er
in
[
2
1
]
u
s
es
ch
an
n
el
s
tate
in
f
o
r
m
atio
n
(
C
SI)
in
s
tead
o
f
R
SS
f
o
r
lo
ca
lizatio
n
an
d
b
y
u
s
in
g
f
o
u
r
AP
d
ev
ic
e
s
,
th
e
r
esear
ch
er
s
co
u
ld
ac
h
iev
e
an
d
ac
cu
r
ac
y
o
f
6
.
5
m
eter
.
W
h
ile,
b
y
in
cr
ea
s
in
g
th
e
n
u
m
b
e
r
o
f
u
tili
ze
d
AP
d
ev
ices
s
u
ch
ac
cu
r
ac
y
h
as
b
ee
n
in
cr
ea
s
ed
u
p
to
5
m
eter
s
.
Ho
wev
er
,
th
eir
m
et
h
o
d
h
as
b
ee
n
r
e
p
o
r
te
d
to
b
e
r
eq
u
ir
ed
m
an
y
d
e
v
ices
an
d
th
e
r
esu
lts
d
id
n
’
t r
ea
ch
t
h
e
r
eq
u
ir
ed
.
Fu
r
th
er
m
o
r
e,
in
[
2
2
]
lo
ca
lizatio
n
b
ased
Ao
A
h
as
b
ee
n
p
r
esen
ted
b
y
u
s
in
g
two
AP
d
ev
ices
to
esti
m
ate
th
e
lo
ca
tio
n
o
f
1
0
r
an
d
o
m
u
n
k
n
o
wn
lo
ca
tio
n
s
.
Ho
wev
er
,
t
h
eir
m
eth
o
d
s
h
o
ws
in
ac
cu
r
at
e
r
esu
lts
wh
er
e
th
e
esti
m
atio
n
er
r
o
r
f
o
r
ea
ch
lo
ca
tio
n
w
as
ab
o
u
t
2
.
5
m
eter
.
I
n
ad
d
itio
n
,
th
e
r
esear
ch
er
s
in
[
2
3
]
p
r
o
p
o
s
ed
Ao
A
lo
ca
lizatio
n
with
R
SS
d
if
f
er
en
ce
(
AL
R
D)
,
th
is
s
y
s
tem
is
to
o
b
tain
th
e
Ao
A
b
y
an
aly
zin
g
th
e
R
SS
m
ea
s
u
r
em
en
t
o
b
tain
ed
f
r
o
m
th
e
two
d
ir
ec
tio
n
al
AP
d
ev
ices.
Su
ch
m
eth
o
d
co
u
ld
ac
h
iev
e
a
v
er
ag
e
lo
ca
l
izatio
n
er
r
o
r
o
f
1
.
2
4
m
.
Ho
wev
er
,
th
is
m
eth
o
d
d
o
esn
’
t
in
clu
d
e
th
e
r
o
tatio
n
al
f
u
n
ctio
n
i
n
co
llectin
g
d
ata.
I
n
ad
d
itio
n
to
th
at,
a
n
in
f
r
astru
ctu
r
e
f
o
r
th
e
esti
m
atio
n
o
f
Ao
A
h
as
b
ee
n
p
r
o
p
o
s
ed
in
a
n
in
d
o
o
r
e
n
v
ir
o
n
m
en
t
[
2
4
]
.
Ho
wev
er
,
th
is
m
eth
o
d
ac
h
iev
e
a
cc
u
r
ac
y
o
f
le
s
s
th
an
2
m
eter
.
Me
an
wh
ile,
g
r
ea
t
ef
f
o
r
ts
h
av
e
b
ee
n
m
a
d
e
b
y
r
esear
ch
er
s
in
[
2
5
]
to
p
r
o
p
o
s
e
s
y
s
tem
f
o
r
lo
ca
lizatio
n
an
d
b
ased
o
n
u
s
in
g
b
o
t
h
r
ec
eiv
e
d
s
ig
n
al
s
tr
en
g
th
(
R
SS
)
an
d
Ao
A.
T
h
ei
r
p
r
esen
ted
alg
o
r
ith
m
co
u
l
d
ac
h
iev
e
ab
o
u
t
1
0
cm
a
v
er
ag
e
in
l
o
ca
lizatio
n
er
r
o
r
f
o
r
a
s
m
all
ar
ea
.
Ho
wev
er
,
th
e
p
r
esen
ted
alg
o
r
ith
m
h
as n
o
t b
e
en
test
ed
f
o
r
a
la
r
g
e
in
d
o
o
r
en
v
ir
o
n
m
e
n
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
,
Vo
l.
19
,
No
.
2
,
Ap
r
il 2
0
2
1
:
4
5
4
-
462
456
A
n
ew
co
m
b
in
atio
n
o
f
lo
ca
liza
tio
n
h
as
b
ee
n
ad
o
p
ted
r
ec
e
n
tly
an
d
k
n
o
wn
as
h
y
b
r
i
d
lo
ca
lizat
io
n
.
Su
ch
lo
ca
lizatio
n
h
as
g
ain
e
d
m
u
ch
atten
tio
n
b
y
r
esear
ch
er
s
d
u
e
t
o
its
h
ig
h
ac
cu
r
ac
y
a
n
d
b
ein
g
u
s
ed
in
a
wid
e
r
an
g
e
o
f
ap
p
licatio
n
s
.
R
an
g
e
b
ased
h
y
b
r
id
ap
p
r
o
ac
h
is
o
n
e
ty
p
e
o
f
s
u
ch
lo
ca
lizatio
n
,
wh
ich
ca
n
b
e
an
y
co
m
b
in
atio
n
o
f
T
o
A,
T
D
o
A,
Ao
A
an
d
R
SS
[
2
6
,
27
]
.
T
h
e
m
o
s
t
i
n
ter
esti
n
g
c
o
m
b
in
atio
n
was
t
h
e
R
SS
-
Ao
A
b
ased
h
y
b
r
id
lo
ca
lizatio
n
,
wh
ich
h
as
a
s
i
g
n
if
ican
t
i
n
im
p
r
o
v
i
n
g
th
e
esti
m
atio
n
ac
cu
r
ac
y
at
lo
we
r
co
s
t,
w
h
er
e
A
o
A
m
ea
s
u
r
em
en
t
ca
n
b
e
u
tili
ze
d
to
ac
h
iev
e
s
elf
-
l
o
ca
lizatio
n
.
W
h
ile,
R
SS
m
ea
s
u
r
em
en
t
co
u
ld
b
e
o
b
tain
ed
ea
s
il
y
with
lo
w
ac
cu
r
ac
y
i
n
t
h
e
h
a
r
s
h
en
v
i
r
o
n
m
e
n
t.
Fu
r
th
er
m
o
r
e,
s
u
ch
h
y
b
r
id
m
eth
o
d
d
o
es
n
’
t
r
e
q
u
ir
e
a
tim
e
s
y
n
ch
r
o
n
izatio
n
p
r
o
ce
d
u
r
e
as it r
eq
u
ir
ed
in
T
o
A
a
n
d
T
Do
A
[
28
]
.
3.
M
E
T
H
O
DO
L
O
G
Y
O
F
P
RO
P
O
SE
D
AL
G
O
R
I
T
H
M
I
n
th
is
s
ec
tio
n
,
we
will
in
tr
o
d
u
ce
th
e
s
tep
s
an
d
f
lo
wch
ar
t
o
f
th
e
p
r
o
p
o
s
ed
m
eth
o
d
.
T
h
e
p
r
o
p
o
s
ed
tech
n
iq
u
e
d
e
p
en
d
s
o
n
m
ea
s
u
r
in
g
th
e
an
g
le
o
f
ar
r
iv
al
an
d
R
SS
at
ea
ch
r
ec
eiv
ed
s
ig
n
al.
T
h
e
m
eth
o
d
o
lo
g
y
in
clu
d
es
a
p
r
ec
is
e
d
escr
ip
tio
n
o
f
th
e
s
tep
s
to
b
e
tak
en
to
r
ea
ch
an
ac
cu
r
ate
d
eter
m
in
atio
n
o
f
th
e
tar
g
et
lo
ca
tio
n
.
3
.
1
.
Ao
A
B
a
s
ed
lo
ca
liza
t
i
o
n
wit
h 2
k
no
wn
AP
dev
ices
T
h
e
s
ite
th
at
was
d
is
cu
s
s
ed
in
th
is
wo
r
k
i
n
clu
d
es
b
u
ild
in
g
th
e
elec
tr
icity
d
e
p
ar
tm
en
t
at
th
e
Un
iv
er
s
ity
o
f
T
ec
h
n
o
lo
g
y
,
th
e
b
u
ild
in
g
co
n
s
is
ts
o
f
f
i
v
e
f
lo
o
r
s
tak
i
n
g
in
to
co
n
s
id
er
atio
n
t
h
e
m
ater
ials
u
s
ed
in
th
e
co
n
s
tr
u
ctio
n
a
n
d
th
eir
ef
f
ec
t
o
n
th
e
s
ig
n
al.
I
n
th
is
r
esear
ch
it
h
as
b
ee
n
co
n
s
id
er
ed
two
f
lo
o
r
in
v
esti
g
atio
n
o
f
2
nd
an
d
3
rd
f
lo
o
r
s
.
Ad
d
itio
n
ally
,
it
h
as
b
ee
n
co
n
s
id
er
e
d
th
e
p
r
e
s
en
ce
o
f
2
s
tatic
an
d
d
ir
ec
tio
n
al
AP
d
ev
ices
to
p
er
f
o
r
m
lo
ca
lizatio
n
in
ea
ch
f
lo
o
r
,
wh
er
e
ea
c
h
AP
d
ev
ice
w
o
u
ld
ca
lcu
late
th
e
R
SS
an
d
Ao
A
v
alu
es
f
o
r
ea
ch
r
ec
eiv
ed
p
o
in
t to
b
e
lo
ca
lize
a
n
d
as seen
in
Fig
ur
e
1
.
Ao
A
ca
n
b
e
d
ef
in
ed
as th
e
an
g
le
b
et
wee
n
th
e
o
r
ien
tatio
n
an
d
th
e
p
at
h
p
r
o
p
a
g
atio
n
d
ir
ec
tio
n
o
f
an
in
cid
e
n
t
wav
e.
Ao
A
is
m
ea
s
u
r
ed
a
n
d
p
r
esen
ted
in
d
eg
r
ee
a
n
d
it
h
as
a
n
ab
s
o
lu
te
v
alu
e
wh
en
th
e
o
r
ien
tatio
n
is
ze
r
o
o
r
p
o
i
n
tin
g
to
th
e
n
o
r
th
.
Oth
e
r
wis
e,
it
w
o
u
ld
h
av
e
r
elativ
e
v
alu
e
[
2
9
].
Ao
A
ca
n
b
e
r
ep
r
esen
ted
b
y
two
m
ain
v
alu
es,
wh
i
ch
ar
e
(
θ)
an
d
(
ϕ
)
.
T
h
e
r
e
p
r
ese
n
tatio
n
o
f
th
ese
two
an
g
les
in
th
e
ax
is
co
o
r
d
i
n
atio
n
ca
n
b
e
s
ee
n
in
Fig
u
r
e
2
.
I
t
i
s
wo
r
th
to
m
en
tio
n
th
at
ca
lcu
l
atin
g
b
o
th
p
r
ev
io
u
s
p
ar
am
eter
s
wo
u
l
d
b
e
th
r
o
u
g
h
th
e
u
s
e
o
f
W
I
s
o
f
twar
e
an
d
in
a
m
u
ltip
ath
s
ce
n
ar
io
,
wh
er
e
s
ev
er
al
p
ath
s
o
f
wir
eless
s
ig
n
al
wo
u
ld
b
e
o
b
tai
n
ed
.
T
h
en
t
h
e
r
esu
lts
o
b
tain
ed
wo
u
ld
b
e
g
ath
er
ed
in
a
d
atab
ase
as
a
f
ir
s
t
p
h
ase
o
f
o
u
r
p
r
o
p
o
s
ed
al
g
o
r
ith
m
to
b
e
h
an
d
e
d
with
s
ec
o
n
d
p
h
ase
a
s
d
escr
ib
ed
in
n
ex
t sectio
n
.
Fig
u
r
e
1
.
Me
th
o
d
o
lo
g
y
o
f
Ao
A
b
ased
lo
ca
lizatio
n
b
y
u
s
in
g
two
k
n
o
wn
AP d
ev
ic
es
Fig
u
r
e
2
.
T
h
e
r
ep
r
esen
tatio
n
o
f
th
eta
an
d
p
h
i a
n
g
le
f
o
r
Ao
A
b
ased
m
eth
o
d
3
.
2
.
T
he
pro
ce
du
re
o
f
pro
po
s
ed
a
lg
o
rit
hm
I
n
th
is
wo
r
k
it
h
as
b
ee
n
d
esig
n
ed
a
h
y
b
r
id
alg
o
r
ith
m
f
o
r
th
e
p
u
r
p
o
s
e
o
f
lo
ca
lizatio
n
esti
m
atio
n
f
o
r
in
d
o
o
r
en
v
i
r
o
n
m
e
n
ts
.
T
h
is
al
g
o
r
ith
m
h
as
b
ee
n
d
esig
n
e
d
b
y
u
s
in
g
MA
T
L
AB
p
r
o
g
r
a
m
with
a
g
r
a
p
h
ical
u
s
er
in
ter
f
ace
(
GUI
)
win
d
o
w
as
s
ee
n
in
Fig
u
r
e
3
.
T
h
e
s
tep
s
o
f
th
is
alg
o
r
ith
m
wo
u
ld
b
e
d
escr
ib
ed
in
th
e
b
elo
w
s
tep
s
Step
1
:
Pre
p
ar
e
th
e
d
atab
ase
a
n
d
co
llect
th
e
d
ata
f
r
o
m
W
I
s
o
f
twar
e
b
ased
o
n
b
o
th
R
SS
an
d
Ao
A
p
ar
am
eter
s
.
Step
2
:
E
n
ter
th
e
AP
c
o
o
r
d
in
atio
n
o
f
XT
x
a
n
d
YT
x
,
w
h
ich
is
s
u
p
p
o
s
ed
to
b
e
k
n
o
wn
f
o
r
o
u
r
l
o
ca
lizatio
n
alg
o
r
ith
m
.
Step
3
:
B
y
click
in
g
o
n
th
e
b
est
p
ath
ca
lcu
latio
n
b
u
tto
n
,
th
e
al
g
o
r
ith
m
wo
u
ld
o
b
tai
n
th
e
o
p
ti
m
u
m
p
ath
b
ased
o
n
th
e
v
alu
es o
f
R
SS
o
f
ea
ch
r
ec
e
iv
ed
p
o
i
n
t a
n
d
f
r
o
m
ea
ch
AP d
ev
ice.
Step
4
:
B
ased
o
n
th
e
p
r
e
v
io
u
s
s
tep
th
e
s
ev
er
al
p
ar
am
eter
s
o
f
o
p
tim
u
m
p
ath
wo
u
ld
b
e
s
elec
ted
s
u
ch
as
d
is
tan
ce
,
th
eta
(
θ)
an
d
p
h
i
(
Φ
)
.
T
h
e
alg
o
r
ith
m
wo
u
l
d
ca
lcu
late
th
e
a
n
g
le
b
etwe
en
th
e
AP
an
d
th
e
r
e
ce
iv
ed
p
o
i
n
t
,
an
d
b
ased
o
n
(
1
).
,
=
α
+π
.
(
1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
Hyb
r
id
lo
ca
liz
a
tio
n
a
lg
o
r
ith
m
b
a
s
ed
o
n
r
ec
eive
d
s
ig
n
a
l str
en
g
th
a
n
d
… (
Ma
h
m
o
o
d
F
.
Mo
s
leh
)
457
wh
er
e
α
is
d
ir
ec
tio
n
o
f
a
r
r
iv
al
in
p
h
i
(
Φ
)
wh
ich
h
as
b
ee
n
ca
lcu
lated
u
s
in
g
W
I
s
o
f
twar
e
an
d
f
o
r
ea
ch
r
ec
ei
v
e
d
p
o
in
t.
Step
5
:
T
h
e
f
in
al
s
tep
in
clu
d
e
s
ca
lcu
latin
g
th
e
v
al
u
es
o
f
x
a
n
d
y
co
o
r
d
in
atio
n
f
o
r
th
e
r
ec
e
iv
ed
p
o
i
n
t
o
r
tar
g
et
with
in
th
e
in
d
o
o
r
en
v
ir
o
n
m
en
t
b
ased
o
n
(
2
)
a
n
d
(
3
)
r
esp
ec
tiv
ely
.
XR
x
=
XT
x
+
d
×
co
s
(
β)
(
2
)
YR
x
=
YT
x
+
d
×
s
in
(
β)
(
3
)
wh
er
e
(
XR
x
,
YR
x
)
r
e
p
r
esen
t
t
h
e
co
o
r
d
in
atio
n
o
f
th
e
ta
r
g
ete
d
r
ec
eiv
e
d
p
o
in
t
wh
ich
r
ep
r
esen
t
th
e
o
u
t
p
u
t o
f
o
u
r
p
r
esen
ted
alg
o
r
ith
m
.
T
h
e
f
lo
w
ch
ar
t d
escr
ib
in
g
th
ese
s
tep
s
ca
n
b
e
s
ee
n
in
Fig
u
r
e
4
.
Fig
u
r
e
3
.
GUI
win
d
o
w
f
o
r
th
e
h
y
b
r
id
lo
ca
lizatio
n
alg
o
r
ith
m
Fig
u
r
e
4
.
Flo
wch
ar
t
o
f
o
u
r
p
r
o
p
o
s
ed
lo
ca
lizatio
n
alg
o
r
ith
m
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
1
6
9
3
-
6
9
3
0
T
E
L
KOM
NI
KA
T
elec
o
m
m
u
n
C
o
m
p
u
t E
l Co
n
tr
o
l
,
Vo
l.
19
,
No
.
2
,
Ap
r
il 2
0
2
1
:
4
5
4
-
462
458
4.
CASE
S
T
UD
Y
T
h
e
s
ite
in
ten
d
ed
f
o
r
in
v
esti
g
atio
n
in
th
is
wo
r
k
is
th
e
b
u
ild
in
g
o
f
elec
tr
ical
d
ep
ar
tm
e
n
t
in
u
n
iv
er
s
ity
o
f
tech
n
o
lo
g
y
wh
ich
co
n
s
is
t
o
f
g
r
o
u
n
d
an
d
4
f
lo
o
r
s
.
T
h
e
ca
s
e
s
tu
d
y
h
as
b
ee
n
d
esig
n
ed
,
m
o
d
elled
an
d
s
im
u
lated
u
s
in
g
wir
eless
I
n
Sit
e
s
o
f
twar
e
an
d
as
s
ee
n
i
n
Fig
u
r
e
5
.
T
h
e
f
lo
o
r
s
s
elec
ted
f
o
r
in
v
esti
g
atio
n
wer
e
th
e
2
nd
an
d
3
th
f
lo
o
r
s
,
wh
er
e
it
h
as b
ee
n
d
e
p
lo
y
ed
two
p
r
ed
ef
i
n
ed
tr
an
s
m
i
tter
s
p
er
ea
c
h
f
l
o
o
r
.
Fo
r
th
e
r
e
ce
iv
ed
p
o
in
t w
h
ic
h
will
b
e
co
n
s
id
er
e
d
as
th
e
ta
r
g
e
t
p
o
in
ts
f
o
r
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Fig
u
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.
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r
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ter
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icatio
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Un
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[
3
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32
]
.
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Fig
u
r
e
5
.
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h
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im
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Fig
u
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R
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Fi
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ated
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Evaluation Warning : The document was created with Spire.PDF for Python.
T
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KOM
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r
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r
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er
e
i
n
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ch
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ten
n
a
t
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we
r
is
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n
ce
n
tr
ated
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o
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ld
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ir
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o
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ated
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e
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ed
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e
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.
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ar
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f
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atter
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f
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er
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d
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ate
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aliza
tio
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esti
m
atio
n
.
Fig
u
r
e
7
.
T
h
e
ac
tu
al
an
d
esti
m
ated
co
o
r
d
in
ates o
f
R
Xs in
th
e
2
nd
f
lo
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r
Fig
u
r
e
8
.
T
h
e
ac
tu
al
an
d
esti
m
ated
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o
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in
ates o
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R
Xs in
th
e
3
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d
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r
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3.
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h
e
T
x
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ated
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
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Ap
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4
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462
460
T
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4.
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ated
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R
x
's
TX
F
3
-
A
P
2
(
1
7
.
1
2
1
9
,
1
6
.
6
9
8
7
)
TX
F
3
-
A
P
1
(
-
0
.
9
7
8
6
,
1
6
.
6
0
4
3
)
O
P
(
R
S
S
)
(
d
B
m)
d
(
m)
α
ͦ
x
ͦ
y
ͦ
O
P
(
R
S
S
)
(
d
B
m)
d
(
m)
α
ͦ
x
ͦ
y
ͦ
R
x
1
-
7
0
.
4
9
1
1
.
6
0
1
9
2
.
4
0
2
4
.
4
5
1
9
.
1
9
-
5
6
.
8
7
2
7
.
1
8
1
9
3
.
5
0
2
5
.
4
5
1
8
.
9
5
R
x
2
-
5
5
.
2
9
8
.
0
0
1
9
5
.
8
8
2
1
.
8
1
1
8
.
8
9
-
5
5
.
5
6
2
7
.
0
6
3
4
6
.
0
2
2
1
.
2
3
1
9
.
1
4
R
x
3
-
3
3
.
1
9
9
.
0
8
3
0
6
.
5
3
1
1
.
7
2
1
8
.
9
9
-
4
3
.
2
7
1
4
.
4
5
2
0
9
.
1
8
1
1
.
6
4
1
8
.
6
5
R
x
4
-
4
9
.
9
4
2
0
.
2
0
3
3
1
.
9
7
-
0
.
7
1
2
1
.
1
9
-
4
3
.
6
0
9
.
2
3
3
3
5
.
5
0
-
0
.
9
4
2
0
.
4
3
R
x
5
-
4
5
.
1
3
1
5
.
9
5
3
5
.
8
6
4
.
1
9
7
.
3
5
-
3
7
.
2
7
1
0
.
2
3
1
2
0
.
4
6
4
.
2
1
7
.
7
9
R
x
6
-
4
9
.
0
5
1
9
.
6
0
1
5
2
.
1
2
3
4
.
4
4
7
.
5
4
-
4
3
.
7
3
2
8
.
1
8
1
4
7
.
9
3
2
2
.
9
0
7
.
6
4
R
x
7
-
5
7
.
6
3
2
7
.
8
4
1
4
9
.
2
5
4
1
.
0
5
2
.
4
6
-
5
6
.
8
0
3
6
.
2
8
1
4
7
.
1
4
2
9
.
5
0
3
.
0
8
R
x
8
-
7
4
.
5
4
3
1
.
7
0
1
5
6
.
1
9
4
6
.
1
2
3
.
9
0
-
7
8
.
7
6
3
7
.
9
3
1
5
7
.
4
5
3
4
.
0
5
2
.
0
6
R
x
9
-
5
8
.
0
2
2
5
.
2
1
3
3
8
.
4
6
-
6
.
3
2
2
5
.
9
5
-
6
1
.
2
9
1
4
.
5
1
3
4
5
.
8
0
-
1
5
.
0
5
2
0
.
1
6
R
x
1
0
-
4
1
.
0
3
3
0
.
8
9
3
5
9
.
5
0
-
1
3
.
7
6
1
6
.
9
7
-
7
9
.
5
5
2
8
.
1
4
4
1
.
1
8
-
2
2
.
1
6
-
1
.
9
2
I
n
o
r
d
er
to
an
al
y
s
e
th
e
lo
ca
liz
atio
n
p
r
o
ce
d
u
r
e
an
d
co
m
p
ar
e
th
e
ac
tu
al
co
o
r
d
i
n
atio
n
with
esti
m
ated
in
m
u
ch
p
r
o
p
er
m
a
n
n
er
.
I
t h
as b
e
en
tak
en
th
e
av
er
ag
e
c
o
o
r
d
in
at
io
n
v
alu
e
f
o
r
ea
ch
r
ec
eiv
ed
p
o
in
t (
R
x
)
f
r
o
m
b
o
t
h
AP
'
s
in
ea
ch
f
lo
o
r
an
d
co
m
p
a
r
e
it
with
ac
tu
al
co
o
r
d
in
atio
n
o
b
tain
ed
f
r
o
m
W
I
s
o
f
twar
e
p
er
th
e
d
ep
lo
y
m
e
n
t
o
f
o
u
r
ca
s
e
s
tu
d
y
.
T
h
ese
r
esu
lts
wer
e
co
llected
in
T
ab
le
s
5
an
d
6
f
o
r
2
n
d
an
d
3
r
d
f
lo
o
r
r
es
p
ec
tiv
ely
.
I
t
ca
n
b
e
d
ed
u
ce
d
th
at
s
o
m
e
R
x
'
s
wer
e
clo
s
er
to
th
e
ac
tu
al
co
o
r
d
in
ati
o
n
as
th
e
R
x
in
2
n
d
f
lo
o
r
r
an
g
in
g
b
etwe
en
(
1
-
6
)
with
er
r
o
r
r
a
n
g
in
g
b
etwe
en
(
0
.
0
0
2
-
0
.
2
)
m
.
Ho
wev
er
,
p
o
in
ts
o
f
R
x
(
7
-
1
1
)
wer
e
d
i
f
f
er
en
t
in
lar
g
e
m
an
n
er
d
u
e
to
th
e
u
tili
za
tio
n
o
f
d
ir
ec
tio
n
a
n
ten
n
a
an
d
its
allo
ca
tio
n
.
T
h
e
e
r
r
o
r
r
a
n
g
in
g
in
th
is
ca
s
e
wer
e
u
p
to
1
0
m
.
T
ab
le
5.
C
o
m
p
a
r
is
o
n
b
e
twee
n
th
e
ac
tu
al
an
d
esti
m
ated
lo
ca
ti
o
n
s
in
th
e
2
nd
f
lo
o
r
s
ce
n
ar
io
an
d
r
an
g
i
n
g
er
r
o
r
R
x
's
A
c
t
u
a
l
L
o
c
a
t
i
o
n
A
v
.
E
st
i
mat
e
d
L
o
c
a
t
i
o
n
R
a
n
g
i
n
g
Er
r
o
r
X
Y
X
Y
X
Y
R
x
1
2
5
.
2
6
1
9
.
3
0
2
5
.
1
5
1
9
.
5
3
0
.
1
1
0
.
2
3
R
x
2
2
1
.
2
9
1
9
.
2
3
2
1
.
3
0
1
9
.
3
3
0
.
0
1
0
.
1
0
R
x
3
1
5
.
3
3
2
0
.
3
9
1
5
.
7
5
2
0
.
3
6
0
.
4
2
0
.
0
3
R
x
4
7
.
4
9
2
0
.
2
8
7
.
4
9
2
0
.
3
3
0
.
0
0
0
.
0
5
R
x
5
3
.
9
1
8
.
3
9
3
.
9
2
8
.
3
4
0
.
0
1
0
.
0
5
R
x
6
1
7
.
5
3
7
.
9
7
1
7
.
6
1
7
.
9
4
0
.
0
8
0
.
0
3
R
x
7
2
5
.
2
7
7
.
4
2
3
4
.
4
6
4
.
1
3
9
.
1
9
3
.
2
8
R
x
8
2
9
.
6
7
3
.
1
8
3
9
.
2
4
3
.
0
6
9
.
5
7
0
.
1
2
R
x
9
3
4
.
0
8
2
.
7
4
4
3
.
3
4
2
.
0
2
9
.
2
6
0
.
7
2
R
x
1
0
4
4
.
6
0
1
4
.
2
2
5
4
.
6
1
3
0
.
2
4
1
0
.
0
1
1
6
.
0
2
R
x
1
1
-
1
3
.
6
2
1
7
.
5
8
-
1
7
.
2
9
1
0
.
8
1
3
.
6
7
6
.
7
7
T
ab
le
6
.
C
o
m
p
a
r
is
o
n
b
etwe
en
th
e
ac
tu
al
an
d
esti
m
ated
lo
ca
ti
o
n
s
in
th
e
3
nd
f
lo
o
r
s
ce
n
ar
io
an
d
r
an
g
i
n
g
er
r
o
r
R
x
's
A
c
t
u
a
l
L
o
c
a
t
i
o
n
A
v
.
E
st
i
mat
e
d
L
o
c
a
t
i
o
n
R
a
n
g
i
n
g
Er
r
o
r
X
Y
X
Y
X
Y
R
x
1
2
5
.
1
3
1
9
.
1
4
2
4
.
9
5
1
9
.
0
7
0
.
1
7
7
4
5
0
.
0
6
8
2
R
x
2
2
1
.
4
1
1
8
.
9
7
2
1
.
5
2
1
9
.
0
1
0
.
1
1
3
3
5
0
.
0
4
2
R
x
3
1
1
.
6
0
1
8
.
6
8
1
1
.
6
8
1
8
.
8
2
0
.
0
7
7
8
0
.
1
4
1
8
5
R
x
4
-
0
.
8
1
2
0
.
4
8
-
0
.
8
2
2
0
.
8
1
0
.
0
1
8
2
9
3
0
.
3
3
4
8
R
x
5
4
.
1
5
7
.
8
8
4
.
2
0
7
.
5
7
0
.
0
5
2
7
5
5
0
.
3
1
1
4
7
5
R
x
6
2
3
.
1
0
7
.
4
5
2
8
.
6
7
7
.
5
9
5
.
5
6
6
4
5
0
.
1
4
2
5
3
R
x
7
2
9
.
8
7
2
.
9
6
3
5
.
2
8
2
.
7
7
5
.
4
0
1
2
0
.
1
9
1
0
8
5
R
x
8
3
4
.
2
4
2
.
6
1
4
0
.
0
9
2
.
9
8
5
.
8
4
6
0
5
0
.
3
7
3
2
6
5
R
x
9
-
6
.
5
7
2
0
.
0
9
-
1
0
.
6
8
2
3
.
0
6
4
.
1
1
1
7
8
5
2
.
9
7
0
4
5
R
x
1
0
-
1
3
.
7
3
1
6
.
9
1
-
1
7
.
9
6
7
.
5
2
4
.
2
3
1
4
5
9
.
3
8
8
5
7
5
6.
CO
NCLU
SI
O
N
I
n
th
is
wo
r
k
,
it
h
as
b
ee
n
in
v
es
tig
ated
th
e
lo
ca
lizatio
n
b
y
u
s
in
g
th
e
p
r
o
p
o
s
ed
alg
o
r
ith
m
a
n
d
b
ased
o
n
two
k
n
o
wn
AP
d
ev
ices.
T
h
ese
d
ev
ices
wer
e
co
n
s
id
er
ed
as
a
d
ir
ec
tio
n
al
an
ten
n
a
d
ev
ice,
w
h
er
e
it
h
as
b
ee
n
s
et
th
e
two
d
ev
ices
in
th
e
s
am
e
p
r
e
-
lo
ca
ted
co
o
r
d
in
atio
n
in
o
u
r
tar
g
eted
b
u
ild
i
n
g
an
d
m
ak
e
t
h
ese
d
ev
ices
f
ac
in
g
ea
ch
o
th
er
.
I
t
h
as
b
ee
n
d
is
tr
ib
u
ted
s
ev
er
al
r
ec
ei
v
ed
p
o
in
t
s
with
in
th
e
en
tire
f
lo
o
r
r
o
o
m
s
f
o
r
test
in
g
an
d
m
ea
s
u
r
in
g
th
e
R
SS
s
ig
n
al.
R
esu
lts
o
b
tain
ed
f
r
o
m
o
u
r
p
r
o
p
o
s
ed
alg
o
r
ith
m
i
n
lo
ca
lizatio
n
f
o
r
ea
c
h
o
f
th
ese
r
ec
eiv
ed
p
o
in
ts
h
a
v
e
b
ee
n
c
o
m
p
ar
ed
with
th
e
ac
tu
al
lo
ca
ti
o
n
.
I
t
h
as
b
ee
n
c
o
n
clu
d
ed
t
h
at
o
u
r
m
eth
o
d
ac
h
iev
e
s
ig
n
if
ican
t
h
ig
h
e
r
ac
cu
r
ac
y
f
o
r
lo
ca
lizatio
n
in
in
d
o
o
r
e
n
v
ir
o
n
m
en
t.
On
th
e
o
t
h
er
h
an
d
th
e
ac
cu
r
ac
y
s
h
o
u
ld
b
e
co
n
s
id
er
th
e
lo
ca
tio
n
o
f
t
h
ese
r
ec
eiv
ed
p
o
in
t to
b
e
l
o
ca
lize.
W
h
er
e
s
o
m
e
p
o
in
ts
as (
1
-
6
)
s
h
o
wed
h
ig
h
ac
cu
r
ac
y
Evaluation Warning : The document was created with Spire.PDF for Python.
T
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L
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T
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m
u
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C
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m
p
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o
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Hyb
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ca
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a
tio
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o
r
ith
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b
a
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… (
Ma
h
m
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o
d
F
.
Mo
s
leh
)
461
with
lo
wer
er
r
o
r
r
an
g
in
g
b
etw
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(
0
.
0
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2
-
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.
2
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.
W
h
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o
th
er
p
o
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ts
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r
elativ
ely
d
ea
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as
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h
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with
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ig
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to
1
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eter
.
RE
F
E
R
E
NC
E
S
[1
]
F
.
Zafa
ri,
e
t
a
l
.
"
A
su
r
v
e
y
o
f
i
n
d
o
o
r
lo
c
a
li
z
a
ti
o
n
sy
ste
m
s
a
n
d
te
c
h
n
o
l
o
g
ies
,
"
IEE
E
Co
mm
u
n
ica
t
i
o
n
s
S
u
rv
e
y
s
&
T
u
to
ri
a
ls,
v
o
l.
2
1
,
n
o
.
3
,
p
.
p
2
5
6
8
-
2
5
9
9
,
2
0
1
9
[2
]
O.
A.S
h
a
re
e
f,
e
t
a
l
.
,
"
T
h
e
o
p
ti
m
u
m
lo
c
a
ti
o
n
fo
r
a
c
c
e
ss
p
o
i
n
t
d
e
p
l
o
y
m
e
n
t
b
a
se
d
o
n
RS
S
f
o
r
i
n
d
o
o
r
c
o
m
m
u
n
ica
ti
o
n
,
"
Co
n
fer
e
n
c
e
:
UKS
im
-
A
M
S
S
2
1
st
In
ter
n
a
t
io
n
a
l
Co
n
fer
e
n
c
e
o
n
M
o
d
e
ll
in
g
&
S
im
u
la
t
io
n
At
:
Ca
mb
ri
d
g
e
U
n
ive
rs
it
y
(Emma
n
u
e
l
C
o
ll
e
g
e
),
27
-
2
9
M
a
rc
h
2
0
1
9
.
[3
]
E.
Ka
p
lan
,
C.
He
g
a
rty
,
"
U
n
d
e
rsta
n
d
i
n
g
G
P
S
:
p
rin
c
i
p
les
a
n
d
a
p
p
li
c
a
ti
o
n
s,"
Artec
h
h
o
u
se
,
2
0
0
5
.
[4
]
Ab
d
u
lwa
h
id
,
e
t
a
l
.
,
"
Op
t
ima
l
a
c
c
e
ss
p
o
in
t
l
o
c
a
ti
o
n
a
lg
o
rit
h
m
b
a
se
d
re
a
l
m
e
a
su
re
m
e
n
t
fo
r
i
n
d
o
o
r
c
o
m
m
u
n
ica
ti
o
n
,
"
In
Pro
c
e
e
d
i
n
g
s
o
f
t
h
e
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
In
f
o
rm
a
ti
o
n
a
n
d
Co
mm
u
n
ica
t
io
n
T
e
c
h
n
o
l
o
g
y
,
2
0
1
9
,
p
p
.
4
9
-
5
5
.
[5
]
J.
Yim
,
B.
H.
Ka
n
g
,
"
Lo
c
a
ti
o
n
-
b
a
s
e
d
m
o
b
il
e
m
a
rk
e
ti
n
g
in
n
o
v
a
ti
o
n
s
,
"
M
o
b
il
e
I
n
f
o
rm
a
ti
o
n
S
y
st
em
,
2
0
1
7
.
[6
]
S.
Y.
Ca
rriza
les
-
Vill
a
g
ó
m
e
z
,
e
t
a
l
.
,
"
A
P
latfo
rm
f
o
r
e
-
He
a
lt
h
Co
n
tr
o
l
a
n
d
L
o
c
a
ti
o
n
S
e
rv
ice
s
fo
r
Wa
n
d
e
rin
g
P
a
ti
e
n
t
s
,
"
M
o
b
il
e
In
f
o
rm
a
ti
o
n
S
y
st
em
,
v
o
l.
2
0
1
8
,
p
p
.
1
-
1
8
,
2
0
1
8
.
[7
]
H.
Nu
rm
in
e
n
,
e
t
a
l
.
,
"
A
su
rv
e
y
o
n
wire
les
s
tran
sm
it
ter
lo
c
a
li
z
a
ti
o
n
u
sin
g
sig
n
a
l
stre
n
g
t
h
m
e
a
su
re
m
e
n
ts,"
W
ire
les
s
Co
mm
u
n
ica
ti
o
n
s a
n
d
M
o
b
il
e
C
o
mp
u
ti
n
g
,
v
o
l.
2
0
1
7
,
p
p
.
1
-
1
2
,
2
0
1
7
.
[8
]
M
.
A.
Al
-
Am
m
a
r,
e
t
a
l
.
,
"
Co
m
p
a
ra
ti
v
e
su
rv
e
y
o
f
in
d
o
o
r
p
o
si
ti
o
n
i
n
g
tec
h
n
o
lo
g
ies
,
tec
h
n
i
q
u
e
s,
a
n
d
a
lg
o
rit
h
m
s,"
i
n
Cy
b
e
rwo
rld
s (CW
),
2
0
1
4
In
ter
n
a
t
io
n
a
l
C
o
n
fer
e
n
c
e
o
n
.
IEE
E
,
2
0
1
4
,
p
p
.
2
4
5
-
2
5
2
.
[9
]
M
.
M
.
A
b
d
u
lwa
h
id
,
e
t
a
l
.
,
"
I
n
v
e
stig
a
ti
o
n
a
n
d
o
p
ti
m
iza
ti
o
n
m
e
t
h
o
d
fo
r
wire
les
s
AP
d
e
p
l
o
y
m
e
n
t
b
a
se
d
in
d
o
o
r
n
e
two
rk
,
"
I
n
IOP
C
o
n
fer
e
n
c
e
S
e
r
ies
:
M
a
ter
ia
ls
S
c
ien
c
e
a
n
d
En
g
in
e
e
rin
g
,
v
o
l
.
7
4
5
,
n
o
.
1
,
2
0
2
0
.
[1
0
]
Z.
F
a
rid
,
e
t
a
l
.
,
"
Re
c
e
n
t
a
d
v
a
n
c
e
s
in
wire
les
s
in
d
o
o
r
lo
c
a
li
z
a
ti
o
n
tec
h
n
i
q
u
e
s
a
n
d
s
y
ste
m
,
"
J
o
u
r
n
a
l
o
f
C
o
mp
u
ter
Ne
two
rk
s a
n
d
Co
mm
u
n
ica
ti
o
n
s
,
v
o
l.
2
0
1
3
,
p
p
.
1
-
1
2
,
2
0
1
3
.
[1
1
]
J.
S
h
irah
a
m
a
a
n
d
T.
Oh
ts
u
k
i
,
"
R
S
S
-
b
a
se
d
l
o
c
a
li
z
a
ti
o
n
i
n
e
n
v
iro
n
m
e
n
ts
with
d
iffere
n
t
p
a
t
h
lo
ss
e
x
p
o
n
e
n
t
f
o
r
e
a
c
h
li
n
k
,
"
in
Pro
c
e
e
d
in
g
s o
f
th
e
IE
E
E
Veh
icu
l
a
r T
e
c
h
n
o
l
o
g
y
C
o
n
fer
e
n
c
e
-
S
p
rin
g
,
VTC
,
M
a
y
2
0
0
8
,
p
p
.
1
5
0
9
-
1
5
1
3
.
[1
2
]
J.
Lee
,
e
t
a
l
.
,
"
A
n
e
w
ra
n
g
e
-
fre
e
lo
c
a
li
z
a
ti
o
n
m
e
th
o
d
u
si
n
g
q
u
a
d
r
a
ti
c
p
ro
g
ra
m
m
in
g
,
"
C
o
mp
u
ter
Co
mm
u
n
ic
a
ti
o
n
s
,
v
o
l.
3
4
,
n
o
.
8
,
p
p
.
9
9
8
-
1
0
1
0
,
2
0
1
1
.
[1
3
]
R.
M
.
Zaa
l,
e
t
a
l
.
,
"
Re
a
l
m
e
a
su
re
m
e
n
t
o
f
o
p
ti
m
a
l
a
c
c
e
ss
p
o
in
t
lo
c
a
li
z
a
ti
o
n
s
,
"
In
IOP
Co
n
fer
e
n
c
e
S
e
rie
s:
M
a
ter
ia
l
s
S
c
ien
c
e
a
n
d
E
n
g
i
n
e
e
rin
g
,
v
o
l
.
8
8
1
,
no
.
1
,
2
0
2
0
.
[1
4
]
K.
Ye
d
a
v
a
ll
i
a
n
d
B
.
Krish
n
a
m
a
c
h
a
ri,
"
S
e
q
u
e
n
c
e
-
b
a
se
d
l
o
c
a
li
z
a
ti
o
n
in
wire
les
s
se
n
so
r
n
e
two
rk
s,
"
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
M
o
b
il
e
C
o
mp
u
t
in
g
,
v
o
l
.
7
,
n
o
.
1
,
p
p
.
8
1
-
9
4
,
2
0
0
8
.
[1
5
]
S
.
F
a
n
g
a
n
d
T.
Li
n
,
"
A
d
y
n
a
m
ic
sy
ste
m
a
p
p
ro
a
c
h
f
o
r
ra
d
i
o
l
o
c
a
ti
o
n
fin
g
e
rp
ri
n
ti
n
g
in
wire
les
s
lo
c
a
l
a
re
a
n
e
two
rk
s,
"
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Co
mm
u
n
ic
a
ti
o
n
s
,
v
o
l
.
5
8
,
n
o
.
4
,
p
p
.
1
0
20
-
1
0
2
5
,
2
0
1
0
.
[1
6
]
P
.
M
.
S
c
h
o
l
l,
e
t
a
l
.
,
"
F
a
st
In
d
o
o
r
Ra
d
io
-
M
a
p
B
u
il
d
in
g
fo
r
RS
S
I
-
b
a
se
d
Lo
c
a
li
z
a
ti
o
n
S
y
ste
m
s,
"
i
n
Pr
o
c
e
e
d
in
g
s o
f
t
h
e
9
th
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
Ne
two
rk
e
d
S
e
n
sin
g
S
y
ste
m
,
2
0
1
2
,
p
p
.
1
-
2.
[1
7
]
REM
COM
In
c
.
,
"
T
h
e
Wi
re
les
s
I
n
S
it
e
u
se
r'
s
m
a
n
u
a
l.
"
v
e
rsi
o
n
2
.
6
.
3
,
r
o
m
c
o
m
in
c
.
,
3
1
5
s.
a
ll
e
n
st
.
,
su
it
e
4
1
6
sta
te
c
o
ll
e
g
e
,
p
a
1
6
8
0
1
,
No
v
e
m
b
e
r
2
0
1
2
,
Ja
n
.
2
0
0
9
.
[1
8
]
J.R
.
Jia
n
g
,
e
t
a
l
.
,
"
A
o
A
lo
c
a
li
z
a
ti
o
n
with
RS
S
I
d
iffere
n
c
e
s o
f
d
irec
ti
o
n
a
l
a
n
ten
n
a
s f
o
r
wire
les
s se
n
s
o
r
n
e
two
r
k
s
,
"
I
n
t
.
J
.
Distrib
.
S
e
n
s.
Ne
t
w.
,
p
p
.
3
0
4
-
3
0
9
,
2
0
1
3
.
[1
9
]
M
.
M
a
lajn
e
r,
e
t
a
l
.
,
"
A
n
g
le
o
f
a
rri
v
a
l
e
stim
a
ti
o
n
u
sin
g
a
sin
g
le
o
m
n
i
d
irec
ti
o
n
a
l
ro
tata
b
le
a
n
ten
n
a
,
"
I
n
Pro
c
e
e
d
in
g
s
o
f
th
e
2
0
1
2
IEE
E
I
n
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
2
0
1
2
W
ire
les
s
In
fo
rm
a
ti
o
n
T
e
c
h
n
o
l
o
g
y
a
n
d
S
y
ste
ms
(I
CW
IT
S
)
,
M
a
u
i
,
HI,
U
S
A,
1
1
-
1
6
No
v
e
m
b
e
r
2
0
1
2
;
vol
.
1
2
,
2
0
1
2
,
p
p
.
1
9
5
0
-
1
9
5
7
.
[2
0
]
Z.
Z
h
a
n
g
,
e
t
a
l
.
,
"
Ac
c
u
ra
te
o
u
td
o
o
r
AP
l
o
c
a
ti
o
n
u
sin
g
sm
a
rtp
h
o
n
e
s
,
"
In
Pro
c
e
e
d
in
g
s
o
f
th
e
1
7
th
An
n
u
a
l
In
ter
n
a
ti
o
n
a
l
Co
n
fer
e
n
c
e
o
n
M
o
b
il
e
Co
m
p
u
ti
n
g
a
n
d
Ne
two
rk
i
n
g
(
M
o
b
iC
o
m)
,
Las
Ve
g
a
s,
NV
,
USA,
2
0
-
2
2
S
e
p
tem
b
e
r
2
0
1
1
,
p
p
.
1
0
9
-
1
2
0
.
[2
1
]
S
.
S
e
n
,
e
t
a
l
.
,
"
S
p
in
lo
c
:
S
p
i
n
o
n
c
e
to
k
n
o
w
y
o
u
r
l
o
c
a
ti
o
n
,
"
in
P
ro
c
e
e
d
in
g
s
o
f
th
e
T
we
lf
t
h
W
o
rk
s
h
o
p
o
n
M
o
b
il
e
Co
mp
u
t
in
g
S
y
ste
ms
&
Ap
p
li
c
a
t
io
n
s
,
2
0
1
2
.
[2
2
]
J.
H.
Hu
h
a
n
d
K.
S
e
o
,
"
A
n
i
n
d
o
o
r
lo
c
a
ti
o
n
-
b
a
se
d
c
o
n
tr
o
l
sy
ste
m
u
sin
g
b
lu
e
t
o
o
t
h
b
e
a
c
o
n
s
fo
r
io
t
sy
s
tem
s
,
"
S
e
n
so
rs
,
v
o
l.
1
7
,
n
o
.
1
2
,
2
0
1
7
.
[2
3
]
J.R.
Jia
n
g
,
e
t
a
l
.
,
"
Ao
A
l
o
c
a
li
z
a
ti
o
n
with
RS
S
I
d
iffere
n
c
e
s
o
f
d
irec
ti
o
n
a
l
a
n
ten
n
a
s
fo
r
wire
les
s
se
n
so
r
n
e
two
rk
s
,
”
In
t.
J
.
Distrib
.
S
e
n
s.
Ne
tw
,
p
p
.
3
0
4
-
3
0
9
,
2
0
1
3
.
[2
4
]
Ca
rl
Wo
n
g
,
Rich
a
rd
Kl
u
k
a
s,
G
e
o
ffre
y
M
e
ss
ier,
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Evaluation Warning : The document was created with Spire.PDF for Python.