Table 2 Simulation parameters

Region of interest

300 × 300 × 20 \({\mathrm{m}}^{3}\), Irregular area

Number of iterations

200

Distribution quantity of nodes

50 ~ 250

Initial energy of every sensor

0.5 J

Data fusion \({E}_{da}\)

5nJ/bit

Circuit unit energy consumption \(({E}_{elec})\)

50 nJ/bit

Free space attenuation coefficient (\({\varepsilon }_{fs}\))

10 pJ/bit/\({\mathrm{m}}^{2}\)

Multi-path attenuation coefficient (\({\varepsilon }_{amp}\))

0.0013pJ/(bit/\({\mathrm{m}}^{4}\))

\({\lambda }_{1}\), \({\lambda }_{2}\), \({\lambda }_{3}\), \({\lambda }_{4}\),\({\lambda }_{5}\)

0.3, 0.2, 0.2, 0.2, 0.1

Computing power \({C}_{j}\)

0 ~ 100 MHz

Storage capacity \({M}_{j}\)

0 ~ 100 MB

Perceptual model parameters \(\lambda , \beta\)

0.5, 0.5

Perception radius \({R}_{S}\)

25 m

Communication radius \({R}_{C}\)

50 m