Overdue-beacon-aided Localization Algorithm in Mobile Sensor Networks

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研究生：	黃任鋒 Jen-Feng Huang
論文名稱：	Overdue-beacon-aided Localization Algorithm in Mobile Sensor Networks
指導教授：	張貴雲 Guey-Yun Chang
口試委員:
學位類別：	碩士 Master
系所名稱：	資訊電機學院 - 資訊工程學系 Department of Computer Science & Information Engineering
畢業學年度：	99
語文別：	中文
論文頁數：	49
中文關鍵詞：	移動式網路、定位演算法
外文關鍵詞：	mobile sensor networks, range-free localization algorithm, useless beacon pair
相關次數：	點閱：18 下載：0
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在無線感測網路中，定位資訊的重要性不言可喻。雖然過去有許多演算法被提出。但定位精確度在移動式的感測網路仍然需要被改善。然而在改善的同時通常伴隨的是付出另外一個更大的代價─communication cost。用傳遞多hop的技術與跟鄰居交換資訊卻可能帶來sensor networks不可承擔的通訊負擔，甚至是廣播風暴的問題。在本論文中, 我們不增加任何communication cost就達到定位精確度提升。我們利用三種zero cost的資訊，通訊半徑、收到的訊號強度以及過去的beacon，定位sensor。更值得注意的是我們的定位演算法比其他種演算法更適合用於低密度的anchor node環境下。低密度的anchor node環境對於一個sensor networks除了節省communication cost之外，更能縮減佈建成本。

In wireless sensor networks, the location information has major impact on many applications. The localization accuracy is not good enough, although substantial studies have been proposed to solve this problem on mobile sensor networks. Unfortunately, a large amount of resources, the communication cost, must be sacrificed in terms of promoting the localization accuracy. Using the technologies that broadcast multi-hop anchor information and exchange the neighbor information will cause hung communication cost that the sensor networks can’t work well and it will bring broadcast storm problem. In this thesis, we enhance the localization accuracy without increase any communication cost. In our proposed algorithm, we use three known information which are communication range, received RSS of beacon, and overdue beacons to locate normal node. It is noteworthy that our proposed algorithm performance is better than others algorithms in sparse anchor environments. Not only reduce device cost, but also reduce communication cost in low anchor density scenario.

Contents
Chapter 1	Introduction	1
Chapter 2	Related Works	4
2.1	Localization algorithm for static normal nodes: Connectivity-based algorithm	5
2.2	Localization algorithm for static normal nodes: non connectivity -based algorithm	6
2.3	Localization algorithm for mobile normal nodes: Connectivity-based algorithm	7
2.4	Localization algorithm for mobile normal nodes: Non connectivity-based algorithm	11
2.5	Problem statement	12
Chapter 3	Overdue-Beacon-Aided Localization Algorithm	14
3.1	Environment and Assumptions	14
3.2	Sparse beacon environments	14
3.2.1	One dimensional moving space	14
3.2.2	Two dimensional moving space	16
3.3	The proposed algorithm for sparse beacon environments	19
3.4	Normal node without hearing any beacon in current slot	23
3.5	The proposed algorithm for normal nodes without hearing any beacon	27
Chapter 4	Analysis	30
4.1	Special-case: Comparison the anchor’s RSS information in the same time slot	30
4.2	Performance analysis	31
Chapter 5	Simulation	35
5.1	Communication Cost	36
5.2	Localization Error in Random-way-point model	37
5.3	Anchor Nodes Density	39
5.4	Impact of Normal Node Speed	40
5.5	Impact of DOI	42
Chapter 6	Conclusion	44
6.1	Summary our works	44
References	46
Appendix A Addition OBALA into MCL Series Algorithms	49
 
List of Figures
Figure 1.1 RSS-based Range free Localization Algorithm	3
Figure 2.1 DRLS and LMAP. (a)Error of DRLS. (b)LMAP.	5
Figure 2.2 LMAP-enhance	6
Figure 2.3 APIT.	7
Figure 2.4 Sequence-based.	7
Figure 2.5 MCL algorithm. (a) Sample node of MCL. (b) Filter the sample node using neighbor constraint. (c) Simulate the possible region by sample node.	8
Figure 2.6 MCB Algorithm. (a) Construct the sample box. (c) Modify the sample box form in slot j.	9
Figure 2.7 IMCL Algorithm. (a) Find the sample center C. (b) Find the pie area in IMCL. (c) Decide the possible region by neighbors.	10
Figure 2.8 MMCL Algorithm. (a) Overestimated hop-count. (b) Expected hop-count.	10
Figure 2.9 Idea of LAH.	11
Figure 2.10 Overdue beacon problem. (a) N received the beacons in the same time slot. (b) N received the beacons in the different time slot.	13
Figure 3.1 Compare bi with bj relationship in slot j. (a) case1: System I. (b) Right shifts system I. (c) case2: System I. (d) Left shifts system I.	16
Figure 3.2 The possible position of bi†.	16
Figure 3.3 The possible region of Nj.	19
Figure 3.4 Enhance anchor utilization process by THEOREM 1.	20
Figure 3.5 Vote the possible region.	20
Figure 3.6 System I, system J, system X and System K. (a) System I and system J. (b) System X and D(bi, bi†)=NiNj. (c) System X moves NjNk such that Nj†=Nk. (d) System K and D(bi, bi††)=NiNj+NjNk.	24
Figure 3.7 The possible position of bi††and bj†.	24
Figure 3.8 The possible region of Nk.	27
Figure 4.1 Possible Region for bi, b1, b2, b3, b4. (a) Use communication range. (b) Use communication range and beacon’s RSS relationship.	32
Figure 4.2 Connectivity-based algorithm and OBALA. (a) Connectivity-based algorithm’s possible region. (b) Use OBALA and RSS(bj)>RSS(bi). (c) Use OBALA and RSS(bj)=RSS(bi). (d) Use OBALA and RSS(bi)> RSS(bj).	33
Figure 5.1 OBALA v.s. MCL-1hop	37
Figure 5.2 Localization error in random-way-point model.	38
Figure 5.3 Impact of anchor node density: OBALA/MCL-1hop	38
Figure 5.4 Impact of anchor node density: MCL, IMCL, MCL+OBALA, IMCL+OBALA.	39
Figure 5.5 Step of IMCL. (a)Use anchor constraint. (b)Pie area not include real normal node. (c)Exchange the error information to neighbor node.	40
Figure 5.6 Impact of normal node speed: OBALA/MCL-1hop.	41
Figure 5.7 Impact of normal node speed: MCL, IMCL, MCL+OBALA, IMCL+OBALA.	41
Figure 5.8 Impact of anchor node speed: OBALA/MCL-1hop.	42
Figure 5.9 Impact of DOI: MCL, IMCL, MCL+OBALA.	43
 
List of Tables
TABLE 2.1 COMPARISON SHEET OF MOBILE LOCALIZATION ALGORITHMS	11
TABLE 5.1 SIMULATION PARAMETERS	36
TABLE 5.2 COMMUNICATION COST	36
 
List of Procedures
PROCEDURE 1 MAINTAIN POSSIBLE REGION	21
PROCEDURE 2 OVERDUE-BEACON PROCESS WITH NEW BEACON	22
PROCEDURE 3 OVERDUE-BEACON PROCESS WITHOUT NEW BEACON	29
 
List of Algorithms
ALGORITHM 1 OVERDUE-BEACON-AIDED LOCALIZATION ALGORITHM (SPARSE BEACONS)	22
ALGORITHM 2 OVERDUE-BEACON-AIDED LOCALIZATION ALGORITHM (WITHOUT HEARING BEACON)	29

                                

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