Table 1 Parameters for the experiment

Number of sensor nodes

500 nodes

Communication range (R)

15 m

Beacon node communication range (R)

15 m

Sensor deployment area

100 × 100 m²/200 × 200 m²

Number of mobile beacons

1

Beacon velocity

10 m/s

Synchronization error

δ(1 hop)

RSSI inaccuracy

20% of communication range

Energy consumption for message transmission

0.08 J

Energy consumption for message reception

0.02 J

Length of synchronization message

568 bits