Sie sind auf Seite 1von 10

Lecture on Sensor Networks

Historical by
Localization
TDOA
Development

  Copyright (c) 2005 Dr. Thomas Haenselmann (University of Mannheim, Germany).


Permission is granted to copy, distribute and/or modify this document
under the terms of the GNU Free Documentation License, Version 1.2
or any later version published by the Free Software Foundation;
with no Invariant Sections, no Front-Cover Texts, and no Back-Cover Texts.
A copy of the license is included on the last pages entitled "GNU
Free Documentation License".

©Thomas Haenselmann – Department of Computer


Science IV – University of Mannheim
time
Timing and applications
Localization by
TDOA
Localization by Time Difference Of Arrival (TDOA)

Localizing events can be done based on precise time stamps if they are delivered along with
measurements and if nodes are positioned.

Example:

Nodes 1-3 are located at P1,P2,P3. They encounter the



P
same event at times t1, t2, t3 respectively. Sound travels at 2

300m per second, with the same speed into all directions.
P 1
All nodes lie approximately on the same plane.

©Thomas Haenselmann – Department of Computer


Case 1: t1=t2=t3. Where is the object? 1
P 3
P

Science IV – University of Mannheim


Given P1=(-2,2) / P2=(1,1) / P3=(-1,-2)

Geometric solution: Draw the perpendicular l through the middle of the line between P1
and P2. All points on l have equal distance to P1 and P2. From now on only those points
are in question. We could, e.g. choose the one whose radius intersects P1, P2 and P3. This,
however, is not easy to construct. Alternatively, a second perpendicular can be used like it is
shown in the sketch above.
Timing and applications
Localization by
TDOA
Localization by Time Difference Of Arrival (TDOA)

Computational solution:

 
r =P2 −P1= 3
−1
M=  
 P10.5 r= −0,5
1,5
l
2
P

in 2D the following holds true: 


M

 
l = r y
−rx
Check:
  
l r = r y r x =r r −r r =0
−r x r y
y x x y

1
r

P 3
P
in particular: l = −1  

©Thomas Haenselmann – Department of Computer


−3
All points x are addressed by parameter p:


xp =Mp    
l = −0,5 p −1
1,5 −3

Science IV – University of Mannheim


Find the p with the following properties: Hint: The approach works analog
2 2
for the case t1=t2=(t3+delta) you
∣xp −P1∣ =∣xp −P3∣
will find in the exercise.

[     ] [     ]
2 2
−0,5 p −1 − −2 = −0,5 p −1 − −1
1,5 −3 2 1,5 −3 −2
2 2
18,5−2p810p =2,52p310p

p=
15
24
final solution for the position:    
−0,5 15 −1 −1,125
 =
1,5 24 −3 −0,375 
Timing and applications
Localization by
TDOA
Localization by Time Difference Of Arrival (TDOA)

As we have seen in the lecture on time synchronization we can not always obtain precise
time stamps. Sometimes only relationships between time stamps are available.

Case 2: t1=t2, t3 > t2. To what degree can the event's


position be estimated? 
P 2

Because of t1=t2 the source still has to lie on the


perpendicular between P1 and P2.

©Thomas Haenselmann – Department of Computer



P 
The perpendicular between P2 and P3 divides the space 1 P 3
into two half-spaces. Since P3 encountered the event

Science IV – University of Mannheim


later than P2, an additional constraint for the event is that it can only be positioned in the
half-space which is further away from P3.
Timing and applications
Localization by
TDOA
Localization by Time Difference Of Arrival (TDOA)

Case 3: t1 < t2 < t3. What is the valid area for the event?
2
P
Again, the perpendiculars divide the space into two
half-spaces each. Only the intersecting area can contain
the event. In the right sketch the event's distance to P2
must be larger than the one to P1 and at the same time P1
must be nearer than P3 which only leaves the darkest 1
P 
P
intersecting area. 3

©Thomas Haenselmann – Department of Computer


How can an object be positioned if precise time differences are available?

Science IV – University of Mannheim


Case 4: The precise times t1, t2 and t3 the same event was encountered by all three nodes is
known now.

In this case the position of an event E can be estimated. With only two nodes only a rough
approximation of the direction of the incoming signal can be guessed. Without loss of
generality we assume t1<t2<t3.
Timing and applications
Localization by
TDOA
Localization by Time Difference Of Arrival (TDOA)

Case 4 (continued):

Observation: A small difference of perception times between nodes P1 and P2 means


that the event has to be located close to the perpendicular between the two
nodes since the perpendicular is the line of equal distances to the
nodes. A large difference of perception times means that the
event is converging towards the line through P1 and P2. 2
P
Because it first arrives at node P1 ,then some time passes and
finally P2 is reached. This is only possible if the distance

©Thomas Haenselmann – Department of Computer


to P1 is significantly smaller than the distance to P2.

The time difference |t2-t1| between the 


E

Science IV – University of Mannheim


nodes can at most become |P1-P2|/300s
if sound travels at 300m/s. If the 3
P
maximum time difference is measured
the event must lie on a line through the nodes.
1
P
If on the other hand, the time difference |t2-t1|
is zero then E lies on the perpendicular of the
direct line between the nodes.
Timing and applications
Localization by
TDOA
Localization by Time Difference Of Arrival (TDOA)

M shall be the middle of the line between P1 and P2. If the time difference |t1-t2| is zero
the angle alpha between the line through P1, P2 and the line through E, M is 90°. If the
time difference is at its maximum, the angle is 0°.

So we can assume that the following


estimate for alpha holds true: 
P 2

 

©Thomas Haenselmann – Department of Computer


∣t 1−t 2∣×300
≈acos
∣P1−P2∣

E 
M 1,2
−

Science IV – University of Mannheim



P 3
Note: The estimate above is precise only
for 0° and 90°. For all other angles many 1
locations for E can be found which result P
in the same time difference but yield
another angle.

It is easy to find an example.


Timing and applications
Localization by
TDOA
Localization by Time Difference Of Arrival (TDOA)

With the estimate for two angles, e.g. for the pair of nodes P1,P2 and P1, P3 the two
evolving lines can be intersected like shown below in order to determine the position of E.
First, the vector d has to be computed by rotating the line P1-P2 about
the angle -alpha (resp. -beta for P1-P3).

 
d 1,2 . x
d1,2 . y
=

cos −sin P1.x−P2.x
sin  cos P1.y−P2.y  P 2

©Thomas Haenselmann – Department of Computer


 3
P  1,2
E M
−

Science IV – University of Mannheim




E  P 3
Note that the source could be positioned on
M 1,3
−
either side of the line through P1 and P2 resp.
P1 and P3. This would not violate the time P 1
differences between the nodes. So a rotation ?
about alpha and -alpha is possible.
Timing and applications
Localization by
TDOA
Localization by Time Difference Of Arrival (TDOA)

Now line 1 through M1,2 and direction d1,2 has to be intersected with line 2 through M1,3
and direction d1,3. The intersection gives a hint where event E might be positioned.
x I=M 1,2r×d 1,2 Points on line 1
x II=M1,3 s×d1,3 Points on line 2
M1,3 s×d 1,3 =M1,2 r×d1,2 ⇔B=r×d 1,2 −s×d 1,3 substituting B=M1,3 −M1,2

  
B.y d 1,2 . y   
B.x =r× d 1,2 . x −s× d 1,3 . x
d1,3 . y

©Thomas Haenselmann – Department of Computer


B.xs×d 1,3 . x r×d 1,2 . y−B.y insert s in expression for r
r= s=
d 1,2 . x d 1,3 . y

r×d 1,2 . x×d1,3 . y=B.x×d1,3 . yr×d1,3 . x×d 1,2 . y −d1,3 . x×B.y

Science IV – University of Mannheim


r×d 1,2 . x×d 1,3 . y−d 1,3 . x×d 1,2 . y =B.x×d 1,3 . y−d1,3 . x×B.y ...solve for variable r and
substitute back
M1,3 . x−M1,2 . x d1,3 . y−M 1,3 . y−M 1,2 . y d 1,3 . x
r=
d 1,2 . x×d 1,3 . y−d 1,3 . x×d1,2 . y

r is the parameter of line-equation 1 which leads to the assumed location of E.


Valid positions only evolve for r > 0 and s > 0!
Timing and applications
Localization by
TDOA
Localization by Time Difference Of Arrival (TDOA)

Each angle can be rotated clockwise or counterclockwise (alpha and beta in the sketch
below) without getting into conflict with a constraint. The evolving three cases can be
checked further using the remaining pair of nodes P2 and P3.

This can either be done by calculating a third direction or by


checking whether the time differences which are produced by
a certain alternative for S actually matches the measured 2
P
time differences. Only one instance of S should meet all
constraints.

©Thomas Haenselmann – Department of Computer



S 1

−

Science IV – University of Mannheim


 
S 2 3
P


P 
1 S 3

Das könnte Ihnen auch gefallen