Fig. 1. The sketch map of the modulation strategy of Ref.12 and Refs.13-14 （a） The modulation strategy of Ref.12，（b） the modulation strategy of Refs.13-14

Fig. 2. The sketch map of the proposed FOVs modulation strategy （a） the FOV of one PIR is modulated by a mask, （b） ideally, the starting points of the FOVs of multiple PIRs are located at same point （Q）, and the FOVs stagger and overlap with each other to form multiple SAs.

Fig. 3. The physical map of the node, and the sketch map of the sampling areas in non-ideal case （a） The arrangement of PIRs, （b） the physical map of whole node, （c） the sketch map of the sampling areas of the node in non-ideal case

Fig. 4. Two nodes are used for human localization.

Fig. 5. The error analysis of the two nodes human localization equipment （a） Plane diagram of error analysis, （b） 3D diagram of error analysis.

Fig. 6. The PIR states determined processes （a） the original signal, （b） denoise the signal by using wavelet soft threshold noise reduction method, （c） calculate the absolute values of the signal, （d） smoothing the signal, （e） set a threshold. If the amplitude of the signal larger than the threshold, set the amplitude to ‘1’, else to ‘0’, （f） further optimize the signal to determine the state of the PIR.

Fig. 7. The pyroelectric infrared human localization node and the experiment result （a） the pyroelectric infrared human localization node, （b） the predefined route and estimated route.

Table 1. The parameters of the KP500B

Table 2. The codes scheme of the 17-SAs.

Table 3. The intersection （x_il,y_il） of the angular bisector A_il and X axis or Y axis.

Table 4. The result of the experiment