Implementation of particle filter for personal dynamic positioning based on ZigBee network

A ZigBee based personal dynamic positioning method via particle filter is discussed in this paper. The Received Signal Strength (RSS) is adopted to estimate the location of the target by applying the trilateration algorithm. The simplified path loss model is chosen to represent the signal propagation. The weights of particles are determined by the distance between the predicted position and the calculated position at the next time, and restrained by the personal average walking velocity. A ZigBee sensor network that includes reference nodes, end device, router, and coordinator is constructed to verify the proposed algorithm. Two experiments have been taken to test the positioning effect, and the results show that the particle filter is available for tracking in the ZigBee based wireless network.