Table 2 Simulation parameters

Simulated area

400∗400 m²

Number of nodes

256

Sensing range

35 m

Standard deviation of the measurement error

0.15 * 35 m

Initial energy capacity

5 mWh

Bit rate

250 kbps

Transmission range

40 m

Transceiver’s delay for switching to RX or TX mode

12 symbol periods = 0.000192 s

Transceiver’s delay for switching to IDLE mode

0 s

Power consumption in IDLE mode

1.278 mW

Power consumption in RX mode

56.4 mW

Power consumption in TX mode

52.2 mW

Unslotted CSMA/CA parameters

Default values specified for the 802.15.4 standard

Routing’s initialization length

First 10 s of the simulation

Routing’s switching energy

0.5 mWh

Sense period (length of the sensing cycle)

0.5 s

Time for the CH’s broadcast beacon message for sensing synchronization

At 0.45 s in each cycle of the CH node

Distance threshold for collecting the target position for a trace

30 m

Distance threshold for collecting the target position for a trace

2 s

MAC strobeTime

0.003744 s

MAC reservedInterval

0,003744 s

MAC strobePeriod

0.008768 s

MAC listenInterval

0.011232 s

MAC sleepInterval

0.15 s

MAC timeout to stay in the ACTIVE state

1 s