第四章定位详解.pptVIP

测角度方法 Angles can be measured by the Angle of Arrival (AoA) Direction of propagation of a RF wave incident on an antenna array Phase shift at individual elements of the array ? 2 * 结论：哪种定位方法最好？ No best algorithm Depends on: Error in range measurement Connectivity Network topology Node capabilities Application requirements ... * 结论： Two main types of distributed localization algorithms: Range-based Estimating the coordinates based on the collected information of distances or angles among nodes Merit: Relatively high accuracy Drawback: Costly (Hardware, Power consumption) Range-free Estimating the coordinates based on the connectivity relations Merit: Cost-effective Drawback: Not as accurate (But: coarse accuracy is sufficient for most sensor network applications) Hardware/Energy Cost vs Location Precision * Questions BN3 (0,0) BN1 (x1,y1) BN2 (x2,y2) SN (xs,ys) r3 r2 r1 Q4: Assuming accurate distance measurements between nodes, apply the trilateration technique to determine the SN coordinates (unknown) using the three BNs coordinates and the r distances (known). Let BN3 be the origin of the coordinate system. Answer: * Questions * * Scenarios NASA Mars Tumbleweed Image by Jeff Antol Nodes moving, seeds stationary Nodes and seeds moving Nodes stationary, seeds moving * MCL: Initialization Initialization: Node has no knowledge of its location. L0 = { set of N random locations in the deployment area } Node’s actual position * MCL Step: Predict Node’s actual position Predict: Node guesses new possible locations based on previous possible locations and maximum velocity, vmax * MCL Step: Predict Node’s actual position Predict: Node guesses new possible locations based on previous possible locations and maximum velocity, vmax Filter Filter: Remove samples that are inconsistent with observations Seed node: knows and transmits location r * Filtering Indirect Seed If node doesn’t hear a seed, but one of your neighbors hears it, node must be within distance (r, 2r]