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Abstract
Introduction
Like the traditional computer networks sensor networks can also be analyzed in
terms of seven OSI layers as they are more or less a must analysis points in any
kind of networks with some different attentions.
For tiny, low power sensors the most important issue is the power consumption.
To make such sensor networks useful power consumption issues must be
addressed. In a word, all protocols and applications for sensor networks must
consider the power consumption issue and try to the best to minimize power
consumption.
Most localization algorithms assume the presence of a few nodes with prior
knowledge of their location: anchor nodes or simply anchors. The position of the
other nodes is determined through interaction with or relative to the anchors.
From here on, nodes of which the position needs to be determined are referred
to as unknown nodes.
Below we focus on the techniques and algorithms that are currently available
for doing localization in wireless sensor networks. For all of them, a short
description is given, followed by an overview of the main characteristics. The
methods presented here form the basis for determining the technique(s) to be
used for the localization mechanisms.
Localization systems for WSNs can be based on the Global Positioning System
(GPS), which is a satellite-based localization infrastructure. At any location on
earth, a GPS-receiver can be localized using information of at least four GPS-
satellites. The receiver computes the time-of-flight of the different satellite
signals as the difference between its local time and the time the signals were
sent and converts the times into distance estimates. The receiver also
determines the satellites' locations from their radio signals and an internal
satellite database. From this knowledge, the receiver's position is derived using
trilateration, generally with an accuracy of about ten meters. GPS can easily be
used in sensor networks, by equipping the sensor nodes with GPS-receivers.
The infrared based solution is suitable for both indoor and outdoor use, but
because of the short range of infrared signals, many nodes with receivers are
required. This makes the solution quite expensive for large areas. Another
disadvantage of the method is the inaccuracy caused by multipath effects and
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Sound signals can also be used for localization purposes in wireless sensor
networks. For that, sensor nodes need to be equipped with sound transceivers.
In general, ultrasound is used: it is less intrusive since it is not audible for
human beings.
Ultrasound transceivers are still quite expensive and they increase the form
factor of a sensor node with at least a factor two.
Radio-based localization
In this section, two common localization techniques using radio signal strength
information are presented. Afterwards, the proximity idea is discussed, a
technique that takes into account the range of radio communication rather than
its quality. Finally, a technique for analyzing the RSSI behaviour over time is
presented. The technique cannot be used for localization itself, but it can
provide useful mobility information about the node to be located.
The above relation forms the basis for the first RSSI-based localization
technique. Anchors broadcast their position at regular intervals. Unknown nodes
receive the message and measure the strength of the received signal. This
signal strength is converted to a distance estimate, using the exponential
relation shown above. Trilateration is used to convert the distance estimate
between anchor and unknown node into coordinates for the latter.
Localization errors for this method range from two to three meters at average,
with indoor errors being larger than outdoor ones. The main reason for the large
errors is that the effective radio-signal propagation properties differ from the
perfect theoretical relation that is assumed in the algorithm. Reflections, fading
and multipath effects largely influence the effective signal propagation. The
distance estimates, which are based on the theoretical relation, are thus
inaccurate and lead to high errors in the calculated locations.
The second method that uses RSSI for localization is called fingerprinting. This
technique is based on the specific behaviour of radio signals in a given
environment, including reflections, fading and so on, rather than on the
theoretical strength-distance relation.
During the next phase, called the online phase, real-time localization is
performed. An unknown node has to be localized in the deployment area. The
unknown node broadcasts a message at regular intervals and the anchors
measure the signal strength upon reception of a message. The measured RSSI-
values are combined into a RSSI-sample. Afterwards, the best matches between
the values in the RSSI-sample and the values stored in the database are
searched for. The resulting matches determine the final position of the unknown
node. Its location could either be the value of the closest match or an average
of a few best matches. The specific algorithm used for matching is not relevant
here.
The main advantage of using RSSI this way is that the unpredictable RSSI
variations in space are handled, which makes the approach a little more
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accurate. Errors using this method are reduced to an average of one to two
meters. The greatest disadvantage of the method is that an offline phase is
required for the system to work. The offline phase is in the first place very time
consuming. Moreover, the fingerprinting database that is created during the
offline phase is location dependent. If one wants to use the same system in
another environment or if radical changes to the current environment are
made, the offline phase has to be repeated.
Proximity-based localization
The location information can be refined by also measuring the strength of the
radio signals between the nodes that are within range of each other. The signal
strength can be translated into an estimate of the distance between the two
nodes, using for example statistical methods. By combining the location
information of the anchors with the distance estimates, the location of an
unknown node can be roughly determined. This refinement of the above
technique can reduce the errors by 50%.
leads to a median localization error of 1.5 meters and tells whether a node is in
motion or not with an accuracy of 87%.
References
[3] N. Bulusu, J. Heidemann, and D. Estrin. Gps less low cost outdoor
localization for very small devices. IEEE Personal Communications Magazine,
7(5):28–34, Oct 2000.
[7] J. C. Chen, K. Yao, and R.E. Hudson. Source localization and beamforming.
IEEE Signal Processing Magazine, 19(2), Mar 2002.