Cooperative Localization in Wireless Ad Hoc and Sensor Networks (original) (raw)

A novel cooperative localization algorithm for indoor sensor networks

2006

Recently, node localization for multi-hop sensor networks has attracted considerable attention. In these networks, error propagation provides a serious challenge to algorithm development and accuracy of final location estimates. In this paper we introduce a novel computationally efficient distributed algorithm, Cooperative Localization with Optimum Quality of Estimate (CLOQ) which takes advantage of the behavior of the channel to provide accurate indoor positioning. This algorithm uses the quality of ranging and positioning estimates to provide practical and accurate results and more importantly reduce error propagation substantially. Using UWB measurements and modeling of the ranging error in a typical office building we compare the performance of this cooperative localization algorithm with a non-channel based algorithm for indoor ad-hoc sensor environments.

Cooperative P2I localization using UWB and Wi-Fi

A Peer to Infrastructure (P2I) cooperative localization system makes use of existing infrastructure network for localization of mobile platforms. This interconnected network can be utilized for several applications besides communication such as disaster management, situational awareness, search and rescue, guided navigation, Cooperative Intelligent Transport System etc. The focus of this paper is development and analysis of a localization system using a well-established infrastructure network. This paper develops methods of localization of dynamic platforms such as Unmanned Aerial Vehicles (UAV) equipped with GNSS, inertial sensors (INS), ultra-wide band (UWB) and wireless local area network (Wi-Fi) receivers. Traditional platforms (cars, UAVs etc.) rely on GNSS for accurate localization and thus cannot be used in indoor environments or other GNSS challenging regions. This paper leverages continuously deployed networks of urban infrastructure that provide signals of opportunity such as Wi-Fi, as well as UWB to develop a robust localization system which is capable of providing a continuous and seamless position solution in both indoor and outdoor environments. This paper also provides an analysis of this localization system using numerical simulations and discusses experimental results of a developed prototype. The contributions of this paper include development and analysis of a prototype cooperative localization system and quantification of its performance. Initial simulation results show that in GNSS denied regions, a platform may be able to achieve positioning accuracy comparable to the accuracy provided by a GNSS under certain conditions. In GNSS available regions, other signals further improve the solution obtained using only GNSS. The simulation results are validated using experiments and the developed system achieves an accuracy of better than 10m more than 95% of the time using a maximum of 4 UWB measurements when GNSS is not present at all and more than 3 UWB measurements are available only 2.5% of time. Higher localization accuracy can be achieved using dense infrastructure network and better quality of UWB measurements.

Collaborative Localization Algorithms for Wireless Sensor Networks with Reduced Localization Error

Sensors, 2011

Localization is an important research issue in Wireless Sensor Networks (WSNs). Though Global Positioning System (GPS) can be used to locate the position of the sensors, unfortunately it is limited to outdoor applications and is costly and power consuming. In order to find location of sensor nodes without help of GPS, collaboration among nodes is highly essential so that localization can be accomplished efficiently. In this paper, novel localization algorithms are proposed to find out possible location information of the normal nodes in a collaborative manner for an outdoor environment with help of few beacons and anchor nodes. In our localization scheme, at most three beacon nodes should be collaborated to find out the accurate location information of any normal node. Besides, analytical methods are designed to calculate and reduce the localization error using probability distribution function. Performance evaluation of our algorithm shows that there is a tradeoff between deployed number of beacon nodes and localization error, and average localization time of the network can be increased with increase in the number of normal nodes deployed over a region.

Cooperative localization in wireless networked systems

2007

Valavanis. I thank them for their direction, support and for creating the ideal research environment. The environment they have created for their students possessed all the challenges, freedom and resources required for completion of my research. They complemented each other perfectly. During this research endeavor, I had the privilege of working with Dr. Miguel Labrador. Dr. Labrador always provided important insight and guidance. In his subtle and expert manner he showed me the beauty of academic rigor and good scientific practices. I also thank the other members of my committee. Dr. James Leffew and Dr. Fernando Falquez read my documentation and provided important feedback from the time of my research proposal until the completion of this dissertation. I must also extend by deep appreciation to my fellow Master and Doctoral students. With these people I worked on projects, performed experiments, wrote papers and engaged in discussions. If it could only be true that such enjoyable pursuits will comprise the rest of my professional life. They have all become dear friends to me.

Distributed and Cooperative Localization Algorithms for WSNs in GPS-less Environments

2000

Nowadays, one of the most representative and vibrant examples of networked embedded systems is represented by Wireless Sensor Networks (WSNs). For many WSNs applications, it is well-known that the determination of the node's location is of prime importance. Moreover, for WSNs the most popular solution for localization, i.e., the GPS-aided (Global Positioning System) one, is unanimously considered as not realistic

Localization of Nodes: A New Challenge for Wireless Sensor Networks

International Journal of Computer Applications, 2013

With the widespread involvement of low cost, small sized sensor nodes in the wireless sensor networks (WISENETs) technology to support variety of collaborative applications such as monitoring and surveillance for civilian as well as military purposes; location aware computing for such nodes is really becoming an important challenge. Localization also plays a vital role in ubiquitous environments with computing potentials in targeting nodes for their security as well as navigation. Since inclusion of GPS receiver in a sensor node becomes too expensive, hence for locating sensor nodes in wireless sensor networks a small number of sink nodes are used that know their location whereas other nodes estimate their location based on the transmission and receiving energy of the message which they send to the sink node. This paper provides an overview of the existing localization solutions with their comprehensive performance metrics in wireless sensor networks and attempt to classify them broadly in terms of their usage area which can be indoor or outdoor or both.

Enhanced Position Estimation via Node Cooperation

2010 IEEE International Conference on Communications, 2010

Two-way time-of-arrival (TW-ToA) is a widely used ranging protocol that can provide the distance between tow devices without time synchronization. One drawback of the TW-ToA is poor positioning accuracy in the absence of a sufficient number of reference ranging devices. Also, for a self-positioning system with a limited battery life, it might be necessary to limit the number of transmissions while satisfying accuracy constraints. In this paper, a cooperative positioning protocol [1] is studied, which can improve positioning accuracy compared to the conventional TW-ToA based positioning systems and also facilitate positioning with fewer packet transmissions; hence, it can prolong battery life on average. The maximum likelihood estimator is obtained for the cooperative technique and the limits on the positioning accuracy are quantified in terms of the Cramer-Rao lower bound (CRLB). Simulation results are provided in order to show performance improvements.