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According to the results, the location accuracy of the KF-based and FOSB-based tracking schemes is better than the non-tracking schemes.

For this 2-D model, a comparison of the computational complexity of the KF-based and the proposed FOSB-based tracking schemes is presented in Table 4.

As compared with the KF-based tracking scheme, the speed estimate of the FOSB-based tracking scheme is based on the additional information contained in the future data.

In addition, for a fair comparison between the algorithms, the input observations of the KF-based tracking scheme is based on the location information extracted from positioning approaches, and the performance of the KF-based approach is also as a comparing bound for location tracking schemes.

As a result, the approach of 1-D problem based on the proposed forward and one-step backward (FOSB-based) tracking scheme is illustrated in the following sections.

Namely, the KF-based tracing scheme is based on the prediction and correction phases for location estimation; the proposed FOSB-based tracking scheme is to distribute and pass the reliable messages between the prediction and correction phases for location estimation.

In terms of Figure 7, as the tracking scheme is based on a fixed-lag smoothing concept with faster sampling frequency, the phenomenon of the worse initial convergence can be reduced with selecting a more closer initial value or can be overcome with the times of the process cycle based on the inherent message-passing features to exchange information.

In Figure 9b, the result shows that the errors of proposed tracking scheme based on one-step fixed lag smoothing are slightly smoother in the moving trajectory of an MT. In addition, the corner effect (the peaks) of the proposed tracking scheme is slightly larger than the KF-based tracking scheme.

As compared with the KF algorithm, the location accuracy of the proposed tracking scheme is not always better than the traditional KF-based tracking schemes.

The novel tracking scheme is summarized as Algorithm 1.

Similar to our work, a tracking scheme is proposed that allows gaps in tracking.