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Localization: Murat Demirbas SUNY Buffalo

The document discusses localization techniques for wireless sensor networks. It covers range-based localization methods like GPS, Cricket, APS, and RADAR that use time or signal measurements. It also covers range-free methods like centroid, DV-HOP, and APIT that do not require ranging. The key range-free methods are described, including how DV-HOP uses hop counts, centroid uses beacon averaging, and APIT uses triangular region tests to estimate node positions.

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0% found this document useful (0 votes)
56 views37 pages

Localization: Murat Demirbas SUNY Buffalo

The document discusses localization techniques for wireless sensor networks. It covers range-based localization methods like GPS, Cricket, APS, and RADAR that use time or signal measurements. It also covers range-free methods like centroid, DV-HOP, and APIT that do not require ranging. The key range-free methods are described, including how DV-HOP uses hop counts, centroid uses beacon averaging, and APIT uses triangular region tests to estimate node positions.

Uploaded by

Ravi Sharma
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 37

Localization

Murat Demirbas
SUNY Buffalo
Localization

• Localization of a node refers to the problem of identifying its


spatial co-ordinates in some co-ordinate system
 How do nodes discover their geographic positions in 2D or 3D space?

• Model: static wireless sensor networks

2
Location Matters

• Sensor Net Applications


 Environment monitoring
 Event tracking
 Smart environment

• Geographic routing protocols


 GeoCast, GPSR, LAR, GAF, GEAR

3
Outline

• Range-based localization
 GPS
 Cricket
 APS
 RADAR

• Range-free localization
 Centroid
 DV-HOP
 APIT

4
Range-based localization

Distances between nodes to nodes/anchors measured wirelessly

• TOA (Time of Arrival )


 GPS

• TDOA (Time Difference of Arrival)


 Cricket

• AOA (Angle of Arrive )


 APS

• RSSI (Receive Signal Strength Indicator)


 RADAR

5
Outline

• Range-based localization
 GPS
 Cricket
 APS
 RADAR

• Range-free localization
 Centroid
 DV-HOP
 APIT

6
Time of arrival (TOA)

• Example: GPS

• Uses a satellite
constellation of at least
24 satellites with
atomic clocks

• Satellites broadcast
precise time

• Estimate distance to
satellite using signal
TOA

• Trilateration

B. H. Wellenhoff, H. Lichtenegger and J. Collins, Global Positioning System: Theory and Practice. Fourth
Edition, Springer Verlag, 1997

7
Outline

• Range-based localization
 GPS
 Cricket
 APS
 RADAR

• Range-free localization
 Centroid
 DV-HOP
 APIT

8
Sound based ToF approach
Because the speed of sound is much slower (approximately 331.4m/s)
than radio, it is easier to be applied in sensor network.
Some hurdles are:
• Line of sight path must exist between sender and receiver.
• Mono-direction.
• Short range.

9
Cricket

• Intended for indoors use


where GPS don't work
• It can provide distance
ranging and positioning
precision of between 1 and
3 cm
• Active beacons and passive
listeners

10
Outline

• Range-based localization
 GPS
 Cricket
 APS
 RADAR

• Range-free localization
 Centroid
 DV-HOP
 APIT

11
Angle of arrival (AOA)

• Idea: Use antenna array to


measure direction of
neighbors

• Special landmarks have


compass + GPS, broadcast
location and bearing

• Flood beacons, update


bearing along the way

• Once bearing of three


landmarks is known,
calculate position

"Medusa" mote

Dragos Niculescu and Badri Nath. Ad Hoc Positioning System (APS) Using AoA, IEEE InfoCom 2003

12
Outline

• Range-based localization
 GPS
 Cricket
 APS
 RADAR

• Range-free localization
 Centroid
 DV-HOP
 APIT

13
RADAR

• Bahl: MS research

• Offline calibration:
 Tabulate <location, RSSI> to construct radio map

• Real-time location & tracking:


 Extract RSSI from base station beacons
 Find table entry best matching the measurement

14
Problems with RSSI

• Sensors have wireless transceivers anyway, so why not just


use the RSSI to estimate distances?

• Problem: Irregular signal propagation characteristics (fading,


interference, multi-path etc.)

Graph from Bahl, Padmadabhan: RADAR: An In-Building


RF-Based User Location and Tracking System
15
Outline

• Range-based localization
 GPS
 Cricket
 APS
 RADAR

• Range-free localization
 Centroid
 DV-HOP
 APIT

16
Range-free localization

Range-based localization:
 Required Expensive hardware
 Limited working range ( Dense anchor requirement)

Range-free localization:
 Simple hardware
 Less accuracy

17
Outline

• Range-based localization
 GPS
 Cricket
 APS
 RADAR

• Range-free localization
 Centroid
 DV-HOP
 APIT

18
Range-free: Centroid
• Idea: Do not use any ranging
at all, simply deploy enough
beacons

• Anchors periodically
broadcast their location

Anchors • Localization:
 Listen for beacons

 Average locations of all anchors in range

 Result is location estimate

• Good anchor placement is


crucial!

Nirupama Bulusu, John Heidemann and Deborah Estrin. Density Adaptive Beacon Placement,
Proceedings of the 21st IEEE ICDCS, 2001

19
Outline

• Range-based localization
 GPS
 Cricket
 APS
 RADAR

• Range-free localization
 Centroid
 DV-HOP
 APIT

20
Hop-Count Techniques
r
4 DV-HOP
1 2
3 7 [Niculescu & Nath,
1 4 2003]
3
2 5 Amorphous
4 8 [Nagpal et. al,
3
3 6 2003]
4
4
5

Works well with a few, well-located seeds and


regular, static node distribution. Works poorly if
nodes move or are unevenly distributed.
21
Outline

• Range-based localization
 GPS
 Cricket
 APS
 RADAR

• Range-free localization
 Centroid
 DV-HOP
 APIT

22
Overview of APIT

• APIT employs a novel area-


based approach. Anchors divide
terrain into triangular regions

• A node’s presence inside or


outside of these triangular
regions allows a node to
narrow the area in which it can
potentially reside.

• The method to do so is called


Approximate Point In Triangle
Test (APIT).

23
Algorithm

• Anchor Beaconing Pseudo Code:


Receive beacons (Xi,Yi)
• Individual APIT Test from N anchors

N
 
• Triangle Aggregation N anchors form 3 triangles.
N
 
• Center of Gravity Estimation For ( each triangle Ti Є 3 ){

InsideSet  Point-In-Triangle-
Test (Ti)

}
Position = COG ( ∩Ti InsideSet);

24
Perfect PIT

• If there exists a direction in which M is departure from points


A, B, and C simultaneously, then M is outside of ∆ABC.
Otherwise, M is inside ∆ABC.

• Require approximation for practical use


 Nodes can’t move, how to recognize direction of departure
 Exhaustive test on all directions is impractical

A
M

C
C B
B

Inside Case Outside Case


25
Departure test

Recognize directions of departure


via neighbor exchange RSSI M
N
• Problems with the assumption!!! A
Anchor Receiving nodes

600

Signal Strength (mv)


550
1 Foot
500

450 5 Feet

400 10 Feet

350 15 Feet

300
1 5 9 13 17 21 25 29 33 37
Beacon Sequence Number

26
APIT approximation

Test only directions towards neighbors


 Error in individual test exists, may be masked by APIT aggregation.

1
3 M
2

3 M 4
2

B C
B

C
A. Inside Case B. OutSide Case

27
APIT: Approximate PIT
• Distances unknown for
most adjacent points
 Use neighbor nodes only

• How to compare distances


to beacons?
 Stronger RSS

• Distributed algorithm:
 Beacon nodes broadcast their location

 Each node builds a table of beacons it


receives and the corresponding RSS
(X,Y) MySS SS1 .... SSn
 Each node broadcasts this table once (1
hop only)
A 20 20 1mv 2mv 6mv

B 45 31 2mv 3mv 7mv

C 23 56 3mv 1mv 7mv


Node M

28
Error Case

Since the number of neighbors is limited, an exhaustive test on every


direction is impossible.
 InToOut Error can happen when M is near the edge of the triangle

 OutToIn Error can happen with irregular placement of neighbors


A

3 2
1

M
M
2

4
4

B C
C B

A. InToOut Error B. OutToIn Error

PIT = IN while APIT = OUT PIT = OUT while APIT = IN

29
APIT Aggregation

0 0 0 0 0 10 1 0 0 0

0 0 1 0 1 1 1 0 0 0
High Possibility area
0 0 1 1 1 1 1 0 0 0

0 1 2 2 1 1 0 -1 0 0

1 1 2 2 1 1 0 -1 -1 0

0 0 2 2 2 1 0 -1 -1 -1

0 0 1 1 1 0 0 -1 -1 -1

Grid-Based Aggregation

With a density 10 nodes/circle,


Low possibility area
Average 92% A.P.I.T Test is correct
Average 8% A.P.I.T Test is wrong
Localization Simulation example
30
Evaluation
• Radio Model: Continuous Radio Variation Model.
– Degree of Irregularity (DOI ) is defined as maximum radio range
variation per unit degree change in the direction of radio propagation

DOI =0 DOI = 0.05 DOI = 0.2

31
Simulation Setup

• Setup
 1000 by 1000m area
 2000 ~ 4000 nodes ( random or uniform placement )
 10 to 30 anchors ( random or uniform placement )
 Node density: 6 ~ 20 node/ radio range
 Anchor percentage 0.5~2%
 90% confidence intervals are within in 5~10% of the mean

• Metrics
 Localization Estimation Error ( normalized to units of radio
range)
 Communication Overhead in terms of #message

32
Error Reduction by Increasing
#Anchors

AH=10~28,ND = 8, ANR = 10, DOI = 0

Placement = Uniform Placement = Random

33
Error Reduction by Increasing Node
Density

AH=16, Uniform, AP = 0.6%~2%, ANR = 10

DOI=0.1 DOI=0.2

34
Error Under Varying DOI

ND = 8, AH=16, AP = 2%, ANR = 10

Placement = Uniform Placement = Random

35
Communication Overhead
• Centroid and APIT
– Long beacons

• DV-Hop and Amorphous


– Short beacons

• Assume: 1 long beacon = Range2


 short beacons = 100 short
beacons

• APIT > Centroid


– Neighborhood information
exchange

• DV-Hop > Amorphous


– Online HopSize estimation

ANR=10, AH = 16, DOI = 0.1, Uniform

36
Performance Summary
Centroid DV-Hop Amorphous APIT
Accuracy Fair Good Good Good
Node Density >0 >8 >8 >6
Anchor >10 >8 >8 >10
ANR >0 >0 >0 >3
DOI Good Good Fair Good
GPSError Good Good Fair Good
Overhead Smallest Largest Large Small

37

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