• 한국산학기술학회논문지
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• 제11권4호
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• pp.1248-1253
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• 2010

본 논문은 SDS-TWR(Symmetric Double-Sided Two-Way Ranging)의 Ranging 오차를 보정하기 위하여 균등거리비율 개념을 적용한 위치인식 보정 알고리즘인 AEDR(Algorithm for localization using the concept of Equivalent Distance Rate)을 제안하고, 위치인식 실험을 통해 위치인식 측정 성능을 분석하였다. SDS-TWR의 Ranging 오차는 실험에 의하면 비콘노드와 이동노드의 특정 거리구간에서 평균 1m~8m로 측정되었다. 그러나 제안한 AEDR에 의한 위치인식 성능은 실험을 통해 전체적으로 교내 강당과 복도 모두에서 SDS-TWR 보다 4배 정도 우수하였으며, 측정된 3~10m 이상의 위치인식 오차를 평균 2m 내외로, 3m 이내의 위치인식 오차를 평균 1m 내외로 각각 감소시킬 수 있음을 확인하였다. 특히 AEDR은 LOS(Line Of Sight) 보다 NLOS(Non Line Of Sight)에서 훨씬 더 위치인식 보정 성능이 우수함을 나타내며, 대부분의 센서 네트워크의 환경이 NLOS임을 고려할 때 AEDR이 실제환경에서의 위치인식에 큰 도움을 줄 수 있다고 판단된다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권8호
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• pp.3889-3903
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• 2017

Fast and accurate localization of randomly deployed nodes is required by many applications in wireless sensor networks (WSNs). However, mobile nodes localization in WSNs is more difficult than static nodes localization since the nodes mobility brings more data. In this paper, we propose a Range-based Monte Carlo Box (RMCB) algorithm, which builds upon the Monte Carlo Localization Boxed (MCB) algorithm to improve the localization accuracy. This algorithm utilizes Received Signal Strength Indication (RSSI) ranging technique to build a sample box and adds a preset error coefficient in sampling and filtering phase to increase the success rate of sampling and accuracy of valid samples. Moreover, simplified Particle Swarm Optimization (sPSO) algorithm is introduced to generate new samples and avoid constantly repeated sampling and filtering process. Simulation results denote that our proposed RMCB algorithm can reduce the location error by 24%, 14% and 14% on average compared to MCB, Range-based Monte Carlo Localization (RMCL) and RSSI Motion Prediction MCB (RMMCB) algorithm respectively and are suitable for high precision required positioning scenes.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.606-608
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• 2005

In this paper, we introduce localization server system calculated real location of objects using raw data of location-awareness from sensor node gateway. The software architecture of localization server system consists of location calculation and actuator control based on location. Also, this system supports for collecting raw data, calculating location of real objects using raw data, correcting error from outer environment, and server for applications based on location.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권9호
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• pp.4418-4437
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• 2017

In this paper a three-phase secure compressive sensing (CS) and received signal strength (RSS) based target localization approach is proposed to mitigate the effect of malicious node attack. RSS measurements are first arranged into a group of subsets where the same measurement can be included in multiple subsets. Intermediate target position estimates are then produced using individual subsets of RSS measurements and the CS technique. From the intermediate position estimates, the residual error vector and residual error square vector are formed. The least median of residual error square is utilized to define a verifier parameter. The selected residual error vector is utilized along with a threshold to determine whether a node or measurement is under attack. The final target positions are estimated by using only the attack-free measurements and the CS technique. Further, theoretical analysis is performed for parameter selection and computational complexity evaluation. Extensive simulation studies are carried out to demonstrate the advantage of the proposed CS-based secure localization approach over the existing algorithms.

• 대한전자공학회논문지TC
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• 제48권6호
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• pp.51-60
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• 2011

GPS 신호를 수신할 수 없는 실내 지역에 적용하기 위하여 무선 센서 네트워크를 이용한 측위 연구가 진행 중이며 많은 알고리즘들이 제안되고 있다. 기존 알고리즘들 중 WCL(Weighted Centroid Localization)은 하드웨어적으로 제한된 무선 센서 네트워크의 특성을 고려하여 간단한 연산으로 사용자 노드의 좌표를 계산하면서 성능 면에서도 우수함이 입증되어 있다. 그러나 최적의 성능을 얻기 위하여 항상 고정 노드들이 전체 네트워크 범위의 96%로 신호를 전송해야 하는 점과 각 고정 노드의 전송 범위 외곽지역에서 급격한 측위 오차가 발생하여 평균 오차와 편차가 크다는 단점이 있어 실제 실내 환경에 적용시키기 어려운 측면이 있다. 본 논문에서는 각 고정 노드의 신호 세기를 비교하여 사용자 노드가 존재할 가능성이 있는 추정 구역을 순차적으로 좁혀 나가는 측위 알고리즘을 제안하였다. 추정 구역을 최소화 하여 사용자 노드의 위치를 계산함으로써 고정 노드의 전송 범위에 따른 성능 저하와 외곽지역에서 발생하는 최대 오차 문제를 해결하였으며, 평균 오차도 자유공간 전파 환경에서 WCL 알고리즘 보다 5배 정도 감소하는 것을 시뮬레이션을 통해 검증하였다.

• 제어로봇시스템학회논문지
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• 제13권11호
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• pp.1092-1098
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• 2007

A mobile robot localization problem can be classified into following three sub-problems as an observation likelihood model, a motion model and a filtering technique. So far, we have developed the range sensor based, integrated localization scheme, which can be used in human-coexisting real environment such as a science museum and office buildings. From those experiences, we found out that there are several significant issues to be solved. In this paper, we focus on three key issues, and then illustrate our solutions to the presented problems. Three issues are listed as follows: (1) Investigation of design requirements of a desirable observation likelihood model, and performance analysis of our design (2) Performance evaluation of the localization result by computing the matching error (3) The semi-global localization scheme to deal with localization failure due to abrupt wheel slippage In this paper, we show the significance of each concept, developed solutions and the experimental results. Experiments were carried out in a typical modern building environment, and the results clearly show that the proposed solutions are useful to develop practical and integrated localization schemes.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제9권9호
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• pp.3432-3448
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• 2015

Interference can cause serious problems in our daily life. Traditional ways in localizing a target can't work well when it comes to the source of interference for it may take an uncooperative or even resistant attitude towards localization. To tackle this issue, we take the BPSN (Binary Proximity Sensor Networks) and consider a passive way in this paper. No cooperation is needed and it is based on simple sensor node suitable for large-scale deployment. By dividing the sensing field into different patches, when enough patches are formed, good localization accuracy can be achieved with high resolution. Then we analyze the relationship between sensing radius and localization error, we find that in a finite region where edge effect can't be ignored, the trend between sensing radius and localization error is not always consistent. Through theoretical analysis and simulation, we explore to determine the best sensing radius to achieve high localization accuracy.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권10호
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• pp.4971-4987
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• 2019

Node localization is the basic task of underwater wireless sensor networks (UWSNs). Most of the existing underwater localization methods rely on ranging accuracy. Due to the special environment conditions in the ocean, beacon nodes are difficult to deploy accurately. The narrow bandwidth and high delay of the underwater acoustic communication channel lead to large errors. In order to reduce the ranging error and improve the positioning accuracy, we propose a localization algorithm based on ranging correction and inertial coordination. The algorithm can be divided into two parts, Range Correction based Localization algorithm (RCL) and Inertial Coordination based Localization algorithm (ICL). RCL uses the geometric relationship between the node positions to correct the ranging error and obtain the exact node position. However, when the unknown node deviates from the deployment area with the movement of the water flow, it cannot communicate with enough beacon nodes in a certain period of time. In this case, the node uses ICL algorithm to combine position data with motion information of neighbor nodes to update its position. The simulation results show that the proposed algorithm greatly improves the positioning accuracy of unknown nodes compared with the existing localization methods.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권2호
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• pp.574-592
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• 2016

Range-free localization algorithm computes a normal node's position by estimating the distance to anchors which know their actual position. In recent years, reliable anchor selection research has been gained a lot of attention because this approach improves localization accuracy by selecting the only subset of anchors called reliable anchor. The distance estimation accuracy and the geometric shape formed by anchors are the two important factors which need to be considered when selecting the reliable anchors. In this paper, we study the relationship between a relative position of three anchors and localization error. From this study, under ideal condition, which is with zero localization error, we find two conditions for anchor selection, thereby proposing a novel anchor selection algorithm that selects three anchors matched most closely to the two conditions, and the validities of the conditions are proved using two theorems. By further employing the conditions, we finally propose a novel range-free localization algorithm. Simulation results show that the proposed algorithm shows considerably improved performance as compared to other existing works.

• 한국정보통신학회논문지
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• 제18권10호
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• pp.2562-2570
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• 2014

단백질의 기능을 유추할 수 있는 중요한 정보중의 하나는 단백질이 존재하는 세포내 위치이다. 최근에는 하나의 단백질이 동시에 존재하는 여러 세포내 위치를 예측하는 연구가 활발하다. 본 논문에서는 단백질이 존재하는 세포내의 다중위치를 예측하기 위해서 레이블 멱집합 방법을 개선한다. 레이블 멱집합 방법으로 분류한 다중위치들을 예측 확률에 따라 결합하여 최종적인 다중레이블로 분류한다. 각 다중위치에 대한 정확한 확률적 기여를 구하기 위하여 쌍별 비교와 오류정정 출력코드를 사용한 다중클래스 확률추정 방법을 적용하였다. 단백질 세포내 위치 예측 실험에 제안한 방법을 적용하여 성능이 향상됨을 보였다.