A modified particle filter algorithm and its implementation on a wireless ZigBee network based navigation system

In this study, we developed and produced a portable device based on Zigbee network. This device operates like a navigation device in Gaziantep University campus and is also kiosk-like one which provides particular information about the departments of the Gaziantep University. To be able to find the exact location of the portable device, we upgraded the particle filter (PF) to the modified particle filter (MPF), applied it to the ZigBee network and compared the results obtained with that of PF, Kalman Filter (KF) and Extended Kalman Filter (EKF). We saw that our modified particle filter mechanism gives remarkably better results compared to other ones. Furthermore, we developed an additional security precaution against Denial-of-Service attacks by applying MAC address and trusted node filtering on the MAC layer of our network. Even though the security of our network is implemented by AES mechanism, our network became more resistant against Denial of Service (DoS) attacks