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IEEE/ICACT20240426 Slide.10        [Big Slide]       [YouTube]	Oral Presentation
	Mobility Estimation of Anchor Nodes. This is the first step in FLMME, in which we will estimate the mobility of the anchor nodes and then estimate the location of the anchor nodes in localization period T1. Initially, anchor nodes can directly communicate with surface buoys, enabling them to obtain their actual locations at any localization period T1. Additionally, these nodes can estimate their next mobility patterns based on previous measurements. In the localization period T1, the anchor node can estimate its location by equation (1). Then, according to the anchor node¡¯s actual and estimated locations, the localization error can be obtained by equation (2). Then, the anchor node can assist in the localization of ordinary nodes.

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