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applications,
an active
Received
Signal
Strength
Indication
(RSSI)
this
and
concept,
algorithm,
and
practical
experiments
als o
show
the
INTRODUCTION
978-1-4244-7879-8/10/$26.00 2010
IEEE
10m
Resolution
Monitoring
(climate,
earth,
oceans,
wild lives,
... )
ITS, LBS,
other
localization...
5m
1m
lcm
lmm
Data Timeliness
L-____________________________
seconds
Figure I.
minutes
hours
days
eeks
Distances
(Range based)
Connectivities
(Range free)
Algorithms
Levell
Level 2
Locations
(2D/3D coordinates)
Figure 2.
RE LATED W ORK
III.
A.
Problem formulation
coordinate
points
Xi' Yi
for
each
node
position
(X;,y;) of
B.
where
RSSlo
-70
-72
-74
dij
RSSI / dBm
-76
-78
-80
-82
-84
-86
-88
-90
C.
Figure 3,
50
100
150
200
250
Time / sec
300
350
400
450
d J(RSSI,e)+a'
o -
'\
-60
IV.
' ,-rJ
-80
-10 0
-20
10
20
30
40
50
60
Distance
70
80
lJ1i
90
100
20
15
A.\
"
-5
1,
Id.J
INJ1 V r
J
Pu
I"
'"
du'
Assume there is an
-dimensional
-10
coordinates
-15
Pu
10
20
FigureS.
30
40
50
60
Distance
70
80
90
100
(7)
A.
RSSI J(d)+a
=
(4)
d J(RSSI)+a'
=
(5)
MDS-MA P concept:
like:
In
BASED ALGORITHMS
10
In
MDS
l\
Figure 4.
-20
(6)
B.
[tulxn
di,j (T)
represents
(8)
liij
liij'
if we ignore the
should equal to
di/ (T).
ij
Xij
xn
Step
I:
where
(1 1 ...1) .
,
lxn'
UVUT;
V,
X=UV2
I
C.
MDS algorithm:
1)
R SSI propagation
initial period, eve!), beacon broadcasts a specific number
of beacon messages, and receive RSSI values between each of
them if the signal is good enough. At the end of initial period,
each beacon has reached an ID number, with R SSI value
between each of them. An RSSI matrix for beacons has been
built like this:
In
3) Localization estimation
When sensor node I obtains enough information after the
initial RSSI propagation stage, it can make use of the
information to calculate it own location. The pseudo-code of
this algorithm is shown in Figure 6.
II assume that sensor node I wants to calculate its location
II Input:
II
Location Estimation 0
{
Nu mberOfNodes
N={};
Nu mberOfBeacons
NB={};
R={};
RadioRange
UnknownNodeSpeed
Speed={};
Err={};
MaxError
Stepl: [X,Y] = Beacon locations;
Step2: Set initial location of unknownl moving nodes, and
calculate distance between each two nodes in the
network, generate RSSI matrix and Distance matrix;
Step3: Process MDS algorithm, get relative coordinates for
unknown nodes, [Rx, Ry];
Step4: Transform relative coordinates to absolute
coordinates by using linear transforrn of beacons;
Step5: Calculate localization error, derr= distance between
initial locations and calculated locations of unknown
nodes;
RelativeErr: RErr= derr I Err;
If RErr < threshold, go to Step 7;
Step6: Refresh RSSIIDistance matrix, go to Step3;
Step7: return;
}
Figure 6.
V.
[Rss ](nxn)
[Dis ] Beacon (mxm)
[Dis ](nxn)
( Xh, ) h=,I 2,3,...,m
el
St p
e
St p2
2SO
[Dis ](nxn)
) Xk,
(9)
200
150 f---
(10)
100 f----::
50 f--
11.1.
o UI
--
10% 20% 30% 40% 50% 60% 70% 80% 90% 100% 110% 120% 130%
Error Percentage of Result
VI.
S IMULATION
"1,..rn
"1
.
,f'e ..
..
.....
. ..'.
..
..
... ....
.. ' ........ ..
..
;!..,........ ...... 1
. . ...
0
-
,. ..
MjIIV
n=
.tllll
II ....
UOMII
III"
OJ ...
1)..:0
"...
..
.......
'D
_.D5\'
In,,,,
:nS)H
. .s
,_
,,..
. 1141
..
31m,
aJ
..
"
!O
010
!I)
f;I)
o
1$M53 1".2:529 N<Q1t UQOOl2 'U)305 "'<0\109 O$' 3:11157'$) " ..
PSMD
0 7.1tiIt
'lII,n
CIt..,
U.7IiD' .,run
.:IID 11.311&2 .
l "NO..
a
351& :!llzun Il __
,,_
IIDIU "'lOS 21_
,.,..
,g",.
lI'.
r.,.., 1:1_ ,
,. . GIl'
1a.IW
aJlOM.l
., ....
nm
'.'
.
......
__ 111" J1InU tllPl32
,_ Ill0Ul 13_' C_ ......
0 MS10Q 7l .. OOnl'M at_
.:,_ "'61n
DIIOI
." ...
.. _ I11l1e
, )11_ 11_'. U.,M
.,1l1\li5
SSMJ ."
wen. O'Sl'IUf T' 1'02'II2t
'HQ "'10IIII
u_ n.-: ... _ . .o,,.
. . ....
. 11""
.
..
" .... MOIIM2 If.e8Ia!M IQrIW Utlm 4OIt5OI 03"'64 ""'*' ''WW
350
A.
_.
200
Il
100 50 0 -
Simulation platform
150
-1---
--_.
1-
250
1-
300
Figure 7.
. ..... .
"
"r---r----r--,-...,---,
"
Figure 8.
Figure 9.
- _ [ -L (
4
- -
10
L--'_-,-11 12 13
In
Steps:
1.
1000 ..--,--.900
800
600
3.
500
4.
5.
6.
7.
S.
700
2.
II
400
!
/
300
200
/'
/
II
/
I
II
I
'r
r
100
o
10
12
14
EXPERIMENTAL SETUP
Testbed Introcuction
IEEE
(3)
(4)
By using RSSI-Oistance model, which is discussed in
Section 3, the results show that, in the 28 data, there are 15 data
whose ElO% < 10%. More detailed statistics are shown below
in Figure 9.
1,/ .
12 -
10 .
6 .
./ .
2 .
<10%
>80%
Figure
B.
II.
250
200
150
In
100
50
3m
20m
<10%
>80%
u..
-----------
------>
18m
.'Ii.
2)
c
M
20m
B
A
4m
In Figure 16, the left one is the result of MOS and right one
is A-MOS. Figure 17 and 18 also show the relative error
comparison between MOS and A-MOS. Obviously, A-MOS
VIII.
Mobile
Node
A
CONCLUSION
The authors would thank Mr. Xuesong Shen and Miss Rui
Xu for their assistance in experiments, as well as the technical
service engineers in Jennie Ltd for their feedback throughout
programming and debugging the embedded system.
REFERENCE
[1]
[2]
[3]
[4]
[5]
[ 6]
[ 7]
[8]
[ 9]
>80%