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Chapter 9: Localization & Positioning

This chapter discusses localization and positioning in wireless sensor networks. It aims to enable nodes to determine their physical position or symbolic location. Common approaches include using proximity to neighboring nodes, triangularization/trilateration based on node geometry, and scene analysis to derive position from sensor readings. Challenges include inaccurate range estimation, synchronization issues, and error accumulation in iterative multilateration methods. Overall, determining positions in WSN comes with many errors and shortcomings.

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Ranjith Kumar
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105 views15 pages

Chapter 9: Localization & Positioning

This chapter discusses localization and positioning in wireless sensor networks. It aims to enable nodes to determine their physical position or symbolic location. Common approaches include using proximity to neighboring nodes, triangularization/trilateration based on node geometry, and scene analysis to derive position from sensor readings. Challenges include inaccurate range estimation, synchronization issues, and error accumulation in iterative multilateration methods. Overall, determining positions in WSN comes with many errors and shortcomings.

Uploaded by

Ranjith Kumar
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PPT, PDF, TXT or read online on Scribd
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Chapter 9: Localization & positioning

Goals of this chapter


Means for a node to determine its physical position (with respect to some coordinate system) or symbolic location A node has to send its position details when it sends data that is aggregated Manual configuration of node before deployment not possible GPS(Global Positioning System) not feasible as it is costly and does not work indoor

Properties of Localisation and Positioning Procedures


Physical Position or Symbolic Location E.g: Numeric coordinate system or Living room, building 4 Absolute or relative: Absolute: Valid for all objects or general Relative: With respect to an anchor. It varies Localized or Centralized Accuracy or Precision: Positioning Accuracy is the distance between the actual and estimated location Precision is the ratio with which accuracy can be reached E.g: 20cm accuracy 95% of Precision Scale: Different scales: E.g: Indoor or Out door Limitations: GPS does not work in door Costs: Time,Space,Energy, price

Overview
Possible approaches Uses nodes neighborhood details: proximity Uses Geometric property of deployment: triangularisation and trilateration Analyze characteristic properties of the position of the node in comparison with the pre measured properties : Scene Analysis

Triangularisation and Trilateration When distance between nodes are used to determine the nodes postion it is called as lateration When angle between nodes are used to determine the nodes postion it is called as angulation Minimum three anchors can be used to have precise value: multi lateration Angulation is based on property of the Triangle : In a triangle if the length of two sides and two angles are known the position of the third point is the intersection of the two remaining sides .

Estimating distances Multi lateration


Based on ranging process Received Signal Strength Indicator RSSI
Send out signal of known strength, use received signal strength and path loss coefficient to estimate distance

Problem: Highly error-prone process

Estimating distances other means


Time of arrival (ToA) or Time of Flight
Use time of transmission, propagation speed, time of arrival to compute distance Problem: Exact time synchronization

Time Difference of Arrival (TDoA)


Use two different signals with different propagation speeds Example: ultrasound and radio signal
Propagation time of radio negligible compared to ultrasound

Compute difference between arrival times to compute distance Problem: Calibration, expensive/energy-intensive hardware

Determining angles
Directional antennas
On the node Mechanically rotating or electrically steerable On several access points
Rotating at different offsets Time between beacons allows to compute angles

Angle 1

Le ng th

kn

ow n

Angle 2

Scene Analysis
To analyze pictures taken by camera and to try to derive the position fro the picture It is inappropriate for WSN

Some range-free, single-hop localization techniques


The unknown node can communicate with anchor directly, within a range EXAMPLES: Active Badge: Active Badge Localization system: Uses Infra red for transmission Each room in a building has an Active Badge, It will send query of an identifier, the receiver replies Information from all badges is collected at the centralized server Active Office: Ultra sound technique is used A centralized server and an array of receiver is used The node whose position is to be known, the server sends the id for transmission as radio message.

Some range-free, single-hop localization techniques


Overlapping connectivity: Position is estimated in the center of area where circles from which signal is heard/not heard overlap Approximate point in triangle
Determine triangles of anchor nodes where node is inside, overlap them Check whether inside a given triangle move node or simulate movement by asking neighbors Only approximately correct
?

B A C D

G F E

Some range-free, single-hop localization techniques


Using angle of arrival information Anchor nodes use narrow, rotating beams where rotation speed is constant and known to all nodes

Multihop range estimation


How to estimate range to a node to which no direct radio B communication exists?
No RSSI, TDoA, X But: Multihop communication is possible
C A

Idea 1: Count number of hops, assume length of one hop is known (DV-Hop)
Start by counting hops between anchors, divide known distance

Idea 2: If range estimates between neighbors exist, use them to improve total length of route estimation in previous method (DV-Distance)

Iterative multilateration
Assume some nodes can hear at least three anchors (to perform triangulation), but not all Idea: let more and more nodes compute position estimates, spread position knowledge in the network
Problem: Errors accumulate
II: (?,?) (2,10) (38,5) (8,0) C (?,?) (8,0) C (?,?) (38,5) A (12,14)

I: A (?,?) (2,10)

(18,20) B

(18,20) B (?,?)

III: A

(18,20) B (12,14) (2,10) (38,5) (8,0) C (?,?) (30,12)

IV: A

(18,20) B (12,14) (2,10) (38,5) (8,0) C (22,2) (30,12)

Conclusions
Determining location or position is a vitally important function in WSN, but with many errors and shortcomings
Range estimates often not sufficiently accurate Many anchors are needed for acceptable results Anchors might need external position sources (GPS) Multilateration problematic (convergence, accuracy)

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