GPS-Free Node Localization in Mobile Wireless Sensor Networks H¨useyin Akcan 1 , Vassil Kriakov 1 ,Herv´e Br¨onn imann 1 , Alex Delis 2 1 CIS Department Polytechnic University 2 Dept. of Informatics & Telecom. University o f Athens ACM MobiDE’06
Dec 15, 2015
GPS-Free Node Localizationin Mobile Wireless Sensor Networks
H¨useyin Akcan1, Vassil Kriakov1,Herv´e Br¨onnimann1, Alex Delis2
1CIS Department Polytechnic University2Dept. of Informatics & Telecom. University of Athens
ACM MobiDE’06
Introduction
Wireless sensor networks are composed of hundreds sensor nodes.
Sensor nodes are capable of measuring various physical
values. are communicating with each other and
organizing themselves to achieve mission. find routing path by their relation between each
other.
Introduction
Many applications require sensor network mobility in environments.
Some place there are not deployed sensor. Ex.
The scene of a fire. Emergency incident.
Introduction Motivation
preserve network formation during directed mobility in mobile sensor networks.
Goals provide directional neighbor localization in a network wide coordinate system. work under fairly large motion and distance measurement errors. unaffect by the speed of nodes. work for any network size. support a stable network in mobility problems.
Introduction Assumptions in this paper
Each mobile sensor node has a compass pointing North can measure the distance to their neighbors using (TOA). allows each node to move a specific distance in a specific
direction. has no additional positioning equipment or infrastructure is
required. Actuator, compass and distance measurements are
subject to errors caused by various real world disturbances.
Localization Algorithm
Core localization algorithm Verification algorithm Exceptional configurations
Localization Algorithm
CoreLocalization(n1, n2, v1,α1)
1: d1 inter-distance(n1, n2)
2: Move node n1 by v1 and α1
3: d2 inter-distance(n1, n2)
4: Retrieve v2 and α2 from n2
5: Calculate positions of n2 using equations (4),(5) and (6)
Localization Algorithm Verification (NeighborList NL) 1: for each neighbor pair (m, n) in NL do 2: if m and n are neighbors then 3: dm,n measured inter-distance(m, n) 4: for each position pair {mi, nj | i, j = 1, 2} do 5: Compute Euclidean distance D between
mi and nj
6: if D = dm,n then 7: mark mi and nj as exact positions
Localization Algorithm
Exceptional configurations If E2-DF<0 or G2-DH<0 Node skip this round and make necessary
adjustments.
Simulations
Environment Compare with absolute position algorithm Sensor radio range 6 100 x 100 area 100 run
Each round random speed [0,5) random angle [0,2π)