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Localization With Mobile AnchorLocalization With Mobile Anchor
Points in Wireless Sensor NetworksPoints in Wireless Sensor Networks
Authors:
Kuo-Feng Ssu, Chia-Ho Ou, and Hewijin Christine Jiau
Presented by:
Md. Kayser Nizam, Md. Habibur Rahman, Md. Monzur Morshed
Course:
Sensor Networks and Wireless Computing
Instructor:
Md. Saidur Rahman
Main Idea of this paperMain Idea of this paper
 In this paper, authors described a range-free
localization scheme using mobile anchor
points equipped with GPS moves in sensor
field and broadcasts its current position
periodically.
 For range-free localization, no extra hardware
or data communication is needed.
 Experiment results showed that authors
scheme performed better than other range-
free mechanisms.
LocalizationLocalization
 What is “localization”?
• Determining where a given node is physically located
in a wireless sensor network (WSN).
 Why do we need to localize a node?
• Identify the location at which sensor reading originate.
• A sensor reading consists of <time, location,
measurement>
• In novel communication protocols that route to
geographic areas instead of ID.
 Localization is a problem in WSNs
• Nodes randomly deployed
• Location unknown
Localization (cont.)Localization (cont.)
 Localization is essential
• Necessary for data correlation (e.g. target tracking)
• Many MAC, routing, and other protocols use nodes'
locations
• Helps in understanding the utility of a WSN from its
coverage area
• Increase network lifetime
 Scalability of localization protocol is important
• Large networks especially need localization
• Many using anchor nodes are non-scalable
Localization (cont.)Localization (cont.)
 Problem Formulation
• Defining a coordinate system
• Calculating the distance between sensor nodes
 Defining a Coordinate System
• Global
• Aligned with some externally meaningful system
(e.g., GPS)
• Relative
• An arbitrary rigid transformation (rotation,
reflection, translation) away from the global
coordinate system
Localization (cont.)Localization (cont.)
 In general, almost all the sensor network
localization algorithms share three main
phases
 DISTANCE ESTIMATION
 POSITION COMPUTATION
 LOCALIZATION ALGHORITHM
Distance EstimationDistance Estimation
 ANGLE OF ARRIVAL (AOA) method allows each sensor
to evaluate the relative angles between received radio
signals
 TIME OF ARRIVAL (TOA) method tries to estimate
distances between two nodes using time based measures
 TIME DIFFERENT OF ARRIVAL (TDOA) is a method for
determining the distance between a mobile station and
nearby synchronized base station
 THE RECEIVED SIGNAL STRENGTH INDICATOR
(RSSI) techniques are used to translate signal strength
into distance.
Position ComputationPosition Computation
 The common methods for position
computation techniques are:
 LATERATION techniques based on the
precise measurements to three non collinear
anchors. Lateration with more than three
anchors called multi-lateration.
 ANGULATION or triangulation is based on
information about angles instead of
distance.
Classifications of LocalizationClassifications of Localization
MethodsMethods
Wireless Sensor Network localization algorithms into
several categories such as:
 Centralized vs Distributed
 Anchor-free vs Anchor-based
 Range-free vs Range-based
 Mobile vs Stationary
Centralized vs DistributedCentralized vs Distributed
 Centralized
• All computation is done in a central server
 Distributed
• Computation is distributed among the nodes
Anchor-Free vs Anchor-BasedAnchor-Free vs Anchor-Based
 Anchor Nodes:
• Nodes that know their coordinates a priori
• By use of GPS or manual placement
• For 2D three and 3D four anchor nodes are needed
 Anchor-free
• Relative coordinates
 Anchor-based
• Use anchor nodes to calculate global coordinates
Range-Free vs Range-BasedRange-Free vs Range-Based
 Range-Free
• For achieving coarse grained accuracy
• 3 methods of distance estimation
• Centroid
• DV-hop
• Geometry conjecture
 Range-Based
• For fine grained accuracy
• TOA
• TDOA
• RSSI
• AOA
Generic Approach Using AnchorGeneric Approach Using Anchor
NodesNodes
 Determine the distances between regular
nodes and anchor nodes. (Communication)
 Derive the position of each node from its
anchor distances. (Computation)
 Iteratively refine node positions using range
information and positions of neighboring
nodes. (Communication & Computation)
Phase 1: CentroidPhase 1: Centroid
 Idea: Do not use any
ranging at all, simply
deploy enough beacons
 Anchors periodically
broadcast their location
 Localization:
 Listen for beacons
 Average locations of all
anchors in range
 Result is location
estimate
 Good anchor placement
is crucial!
Anchors
Ref: Nirupama Bulusu, John Heidemann and Deborah Estrin. Density Adaptive
Beacon Placement, Proceedings of the 21st IEEE ICDCS, 2001
Phase 1: DV-hopPhase 1: DV-hop
• Anchors
• flood network with
own position
• flood network with
avg hop distance
• Nodes
• count number of hops
to anchors
• multiply with avg hop
distance
C
A
B
1
1
1
1
2
2
2
3
3
4
4
3 hops
avg hop: 5
System EnvironmentSystem Environment
• Sensor network consists of sensor
nodes and mobile anchor points
• Randomly distributed
• Can receive messages from sensor
nodes and mobile anchor points
• Mobile anchor points can traverse
for assisting sensor nodes to
determine their locations
• Each mobile anchor point has a GPS
receiver and sufficient energy for
moving and broadcasting beacon
• Messages during the localization
process.
Localization SchemeLocalization Scheme
• Inspired by the perpendicular
bisector of a chord conjecture.
• Perpendicular bisector of any
chord passes through the
center of the circle
• Localization problem can be
transformed based on the
conjecture
• Sensor node location: center
of the circle
• Sensor nodes communicate
with mobile anchors through
the radius of the circle
Beacon Point SelectionBeacon Point Selection
• At least three endpoints on the
circle should be collected for
establishing two chords
• Anchor point periodically
broadcasts beacon messages
when it moves
• Beacon message contains the
anchor node’s id, location, and
timestamp
• Node maintains a set of beacon
points & a visitor list
• Beacon point is considered as
an approximate endpoint on
the sensor node’s
communication circle
Location CalculationLocation Calculation
Beacon SchedulingBeacon Scheduling
• Broadcasting in wireless ad hoc
networks may cause destructive
bandwidth congestion,
contention, and collision
• Collision at sensor nodes could
occur due to beacon messages in
the mechanism
• Solution: the scheduling for
broadcasting beacon messages is
jittered.
• Randomized scheduling prevents
the beacon collision at sensor
nodes so each node can
efficiently obtain beacon
messages from different mobile
anchor points.
Chord SelectionChord Selection
 Localization will be accurate if the selected beacon points
are exact on the communication circle
 Incorrect beacon points could be chosen due to collision or
inappropriate beacon intervals.
 Chords generated using the beacon points thus fails to
estimate the position of the sensor
 When length of the chord is too short, probability of
unsuccessful localization will increase rapidly
 A threshold λ for the length of a chord is used to solve the
problem
 The length of a chord must surpass the threshold for
reducing the localization error
Obstacle ToleranceObstacle Tolerance
• Obstacles in the sensor field
cause radio irregularity in
the sensor network
• Radio irregularity could
degrade the performance of
localization protocols so
most localization schemes
require a non-obstacle
sensing area
• Original mechanism may
choose inappropriate
beacon points if obstacles
exist
Obstacle Tolerance (cont.)Obstacle Tolerance (cont.)
• Enhanced beacon point selection
based on the characteristic of
concentric circles is developed
for tolerating the presence of
obstacles
• Exploiting chords on one of its
concentric circles can also
compute the center of the circle
• B3, B4, and B5 are on the same
concentric circle and can form
two suitable chords to determine
the center of the circle
• Signal strength of a received
beacon is in inverse proportion
to the distance with the sender
Simulation EnvironmentSimulation Environment
Six sets of simulations for
evaluation:
•Beacon scheduling
•Threshold for the length
of a chord
•Radio range
•Moving speed
•Number of anchor points
•Obstacles
Three metrics used to evaluate the
performance of proposed localization
mechanism
• Average location error
• Average execution time
• Beacon overhead
Performance MetricsPerformance Metrics
Simulation ParametersSimulation Parameters
PerformancePerformance
Localization with mobile anchor points in wireless sensor networks
Localization with mobile anchor points in wireless sensor networks
Localization with mobile anchor points in wireless sensor networks
Localization with mobile anchor points in wireless sensor networks
Localization with mobile anchor points in wireless sensor networks
Localization with mobile anchor points in wireless sensor networks
ConclusionConclusion
In this paper, authors found that ……………..
 Range-free localization mechanism without using distance or angle
information was also able to achieve fine-grained accuracy.
 The sensor nodes can calculate their positions without additional
interactions based on the localization information from mobile anchors
and the principles of elementary geometry.
 All computation is performed locally, and beacon overhead only occurs
on mobile anchors so the mechanism is distributed, scalable, effective,
and power efficient.
 Execution time for localization mechanism can be shortened if the
moving speed, the radio range, or the number of mobile anchor points
in increased.
Thank you 

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Localization with mobile anchor points in wireless sensor networks

  • 1. Localization With Mobile AnchorLocalization With Mobile Anchor Points in Wireless Sensor NetworksPoints in Wireless Sensor Networks Authors: Kuo-Feng Ssu, Chia-Ho Ou, and Hewijin Christine Jiau Presented by: Md. Kayser Nizam, Md. Habibur Rahman, Md. Monzur Morshed Course: Sensor Networks and Wireless Computing Instructor: Md. Saidur Rahman
  • 2. Main Idea of this paperMain Idea of this paper  In this paper, authors described a range-free localization scheme using mobile anchor points equipped with GPS moves in sensor field and broadcasts its current position periodically.  For range-free localization, no extra hardware or data communication is needed.  Experiment results showed that authors scheme performed better than other range- free mechanisms.
  • 3. LocalizationLocalization  What is “localization”? • Determining where a given node is physically located in a wireless sensor network (WSN).  Why do we need to localize a node? • Identify the location at which sensor reading originate. • A sensor reading consists of <time, location, measurement> • In novel communication protocols that route to geographic areas instead of ID.  Localization is a problem in WSNs • Nodes randomly deployed • Location unknown
  • 4. Localization (cont.)Localization (cont.)  Localization is essential • Necessary for data correlation (e.g. target tracking) • Many MAC, routing, and other protocols use nodes' locations • Helps in understanding the utility of a WSN from its coverage area • Increase network lifetime  Scalability of localization protocol is important • Large networks especially need localization • Many using anchor nodes are non-scalable
  • 5. Localization (cont.)Localization (cont.)  Problem Formulation • Defining a coordinate system • Calculating the distance between sensor nodes  Defining a Coordinate System • Global • Aligned with some externally meaningful system (e.g., GPS) • Relative • An arbitrary rigid transformation (rotation, reflection, translation) away from the global coordinate system
  • 6. Localization (cont.)Localization (cont.)  In general, almost all the sensor network localization algorithms share three main phases  DISTANCE ESTIMATION  POSITION COMPUTATION  LOCALIZATION ALGHORITHM
  • 7. Distance EstimationDistance Estimation  ANGLE OF ARRIVAL (AOA) method allows each sensor to evaluate the relative angles between received radio signals  TIME OF ARRIVAL (TOA) method tries to estimate distances between two nodes using time based measures  TIME DIFFERENT OF ARRIVAL (TDOA) is a method for determining the distance between a mobile station and nearby synchronized base station  THE RECEIVED SIGNAL STRENGTH INDICATOR (RSSI) techniques are used to translate signal strength into distance.
  • 8. Position ComputationPosition Computation  The common methods for position computation techniques are:  LATERATION techniques based on the precise measurements to three non collinear anchors. Lateration with more than three anchors called multi-lateration.  ANGULATION or triangulation is based on information about angles instead of distance.
  • 9. Classifications of LocalizationClassifications of Localization MethodsMethods Wireless Sensor Network localization algorithms into several categories such as:  Centralized vs Distributed  Anchor-free vs Anchor-based  Range-free vs Range-based  Mobile vs Stationary
  • 10. Centralized vs DistributedCentralized vs Distributed  Centralized • All computation is done in a central server  Distributed • Computation is distributed among the nodes
  • 11. Anchor-Free vs Anchor-BasedAnchor-Free vs Anchor-Based  Anchor Nodes: • Nodes that know their coordinates a priori • By use of GPS or manual placement • For 2D three and 3D four anchor nodes are needed  Anchor-free • Relative coordinates  Anchor-based • Use anchor nodes to calculate global coordinates
  • 12. Range-Free vs Range-BasedRange-Free vs Range-Based  Range-Free • For achieving coarse grained accuracy • 3 methods of distance estimation • Centroid • DV-hop • Geometry conjecture  Range-Based • For fine grained accuracy • TOA • TDOA • RSSI • AOA
  • 13. Generic Approach Using AnchorGeneric Approach Using Anchor NodesNodes  Determine the distances between regular nodes and anchor nodes. (Communication)  Derive the position of each node from its anchor distances. (Computation)  Iteratively refine node positions using range information and positions of neighboring nodes. (Communication & Computation)
  • 14. Phase 1: CentroidPhase 1: Centroid  Idea: Do not use any ranging at all, simply deploy enough beacons  Anchors periodically broadcast their location  Localization:  Listen for beacons  Average locations of all anchors in range  Result is location estimate  Good anchor placement is crucial! Anchors Ref: Nirupama Bulusu, John Heidemann and Deborah Estrin. Density Adaptive Beacon Placement, Proceedings of the 21st IEEE ICDCS, 2001
  • 15. Phase 1: DV-hopPhase 1: DV-hop • Anchors • flood network with own position • flood network with avg hop distance • Nodes • count number of hops to anchors • multiply with avg hop distance C A B 1 1 1 1 2 2 2 3 3 4 4 3 hops avg hop: 5
  • 16. System EnvironmentSystem Environment • Sensor network consists of sensor nodes and mobile anchor points • Randomly distributed • Can receive messages from sensor nodes and mobile anchor points • Mobile anchor points can traverse for assisting sensor nodes to determine their locations • Each mobile anchor point has a GPS receiver and sufficient energy for moving and broadcasting beacon • Messages during the localization process.
  • 17. Localization SchemeLocalization Scheme • Inspired by the perpendicular bisector of a chord conjecture. • Perpendicular bisector of any chord passes through the center of the circle • Localization problem can be transformed based on the conjecture • Sensor node location: center of the circle • Sensor nodes communicate with mobile anchors through the radius of the circle
  • 18. Beacon Point SelectionBeacon Point Selection • At least three endpoints on the circle should be collected for establishing two chords • Anchor point periodically broadcasts beacon messages when it moves • Beacon message contains the anchor node’s id, location, and timestamp • Node maintains a set of beacon points & a visitor list • Beacon point is considered as an approximate endpoint on the sensor node’s communication circle
  • 20. Beacon SchedulingBeacon Scheduling • Broadcasting in wireless ad hoc networks may cause destructive bandwidth congestion, contention, and collision • Collision at sensor nodes could occur due to beacon messages in the mechanism • Solution: the scheduling for broadcasting beacon messages is jittered. • Randomized scheduling prevents the beacon collision at sensor nodes so each node can efficiently obtain beacon messages from different mobile anchor points.
  • 21. Chord SelectionChord Selection  Localization will be accurate if the selected beacon points are exact on the communication circle  Incorrect beacon points could be chosen due to collision or inappropriate beacon intervals.  Chords generated using the beacon points thus fails to estimate the position of the sensor  When length of the chord is too short, probability of unsuccessful localization will increase rapidly  A threshold λ for the length of a chord is used to solve the problem  The length of a chord must surpass the threshold for reducing the localization error
  • 22. Obstacle ToleranceObstacle Tolerance • Obstacles in the sensor field cause radio irregularity in the sensor network • Radio irregularity could degrade the performance of localization protocols so most localization schemes require a non-obstacle sensing area • Original mechanism may choose inappropriate beacon points if obstacles exist
  • 23. Obstacle Tolerance (cont.)Obstacle Tolerance (cont.) • Enhanced beacon point selection based on the characteristic of concentric circles is developed for tolerating the presence of obstacles • Exploiting chords on one of its concentric circles can also compute the center of the circle • B3, B4, and B5 are on the same concentric circle and can form two suitable chords to determine the center of the circle • Signal strength of a received beacon is in inverse proportion to the distance with the sender
  • 24. Simulation EnvironmentSimulation Environment Six sets of simulations for evaluation: •Beacon scheduling •Threshold for the length of a chord •Radio range •Moving speed •Number of anchor points •Obstacles
  • 25. Three metrics used to evaluate the performance of proposed localization mechanism • Average location error • Average execution time • Beacon overhead Performance MetricsPerformance Metrics
  • 34. ConclusionConclusion In this paper, authors found that ……………..  Range-free localization mechanism without using distance or angle information was also able to achieve fine-grained accuracy.  The sensor nodes can calculate their positions without additional interactions based on the localization information from mobile anchors and the principles of elementary geometry.  All computation is performed locally, and beacon overhead only occurs on mobile anchors so the mechanism is distributed, scalable, effective, and power efficient.  Execution time for localization mechanism can be shortened if the moving speed, the radio range, or the number of mobile anchor points in increased.