A Distributed Particle Filter Implementation for Tracking in a Wireless Sensor Network Jesse Read, Katrin Achutegui, Joaqu´ ın M´ ıguez Universidad Carlos III de Madrid. July 2, 2013 J. Read, K.Achutegui, J.M´ ıguez (UC3M) A DPF for Tracking in a WSN July 2, 2013 1 / 17
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A Distributed Particle Filter Implementation for Trackingin a Wireless Sensor Network
Jesse Read, Katrin Achutegui, Joaquın Mıguez
Universidad Carlos III de Madrid.
July 2, 2013
J. Read, K.Achutegui, J.Mıguez (UC3M) A DPF for Tracking in a WSN July 2, 2013 1 / 17
Initially: A Particle Filter in a WSN ?
The iMote2 (≈ 13 MHz) . . .
sensing nodes J takes sensor measurements
central processing node P
J1 //P2 J3oo
J4
>>
J5
OO
J6
``
not enough processing power!
J. Read, K.Achutegui, J.Mıguez (UC3M) A DPF for Tracking in a WSN July 2, 2013 2 / 17
Previously: A Distributed Particle Filter in a WSN
The iMote2 (≈ 13N MHz) . . .
sensing node J takes sensor measurements
N processing nodes P
J1 //
P2
��
J3oo
~~J4
>>
//P5
OO
J6
``
oo
It worked! Tracking (a person) in an indoor scenario, accuracy of0.5m, using light sensor readings; Extremely efficient, but . . .
J. Read, K.Achutegui, J.Mıguez (UC3M) A DPF for Tracking in a WSN July 2, 2013 3 / 17
For N processing nodes . . .
. . . hardware is limited. We cannot do anything much more sophisticated /bigger.
J. Read, K.Achutegui, J.Mıguez (UC3M) A DPF for Tracking in a WSN July 2, 2013 4 / 17
Initial Conclusions
Further development is limited by
CPU / network / battery limitations; and
difficulty involved with working with TinyOS.
J. Read, K.Achutegui, J.Mıguez (UC3M) A DPF for Tracking in a WSN July 2, 2013 5 / 17
Solution: A Hierarchical WSN
Dedicated sensing nodes (J) – telosb, low spec
basic TinyOS sensor-program, just send sensorreadings