• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.4
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• pp.1248-1253
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• 2010

In this paper, the compensation algorithm for localization using the concept of equivalent distance rate(AEDR) in order to compensate ranging error in the SDS-TWR(Symmetric Double-Sided Two-Way Ranging) is proposed and the performance of the proposed algorithm is analyzed by the localization experiments. The ranging error of the SDS-TWR in the distance between mobile node and beacon node is measured to average 1m~8m by ranging experiments. But it is confirmed that the performance of the localization by the AEDR is better than that of the SDS-TWR 4 times in university auditorium and corridor, and the localization error of above 3~10m is reduced to average 2m and that of below 3m is reduced to average 1m respectively. It is concluded that the AEDR is superior to the NLOS(Non Line Of Sight) than LOS(Line Of Sight) in performance of ranging compensation for localization, and the AEDR is more helpful to localization systems practically considering the environment of sensor networks is under NLOS.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.4
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• pp.508-516
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• 2016

When GPS signals are not available, a relative localization can be alternatively used to represent the topological relationship between mobile nodes. A relative location map of a network can be constructed by using the distance information between all the pairs of nodes in the network. If a network is large, a number of small local maps are individually constructed and are merged to obtain the whole map. However, this approach may result in a high computation and communication overhead. In this paper, we propose a reference-node selection scheme for relative localization map construction, which chooses a subset of nodes as a reference node that is supposed to construct local maps. The scheme is a greedy algorithm that iteratively chooses nodes with high degree as a reference node until the chosen local maps are successfully merged with a sufficient number of common nodes between nearby local maps. The simulation results indicate that the proposed scheme achieves higher localization accuracy with a reduced computational overhead.

• Journal of KIISE:Information Networking
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• v.37 no.5
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• pp.409-414
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• 2010

The applications based on geographical location are increasing rapidly in wireless sensor networks (WSN). Recently, various localization algorithms have been proposed but the majority of algorithms rely on the specific hardware to measure the distance from the signal sources. In this paper, we propose the Weighted Multiple Rings Localization(WMRL). We assume that each deployed anchor node may periodically emit the successive beacon signals of the different power level. Then, the beacon signals form the concentric rings depending on their emitted power level, theoretically. The proposed algorithm defines the different weighting factor based on the ratio of each radius of ring. Also, If a sensor node may listen, it can find the innermost ring of the propagated signal for each anchor node. Based on this information, the location of a sensor node is derived by a weighted sum of coordinates of the surrounding anchor nodes. Our proposed algorithm is fully distributed and does not require any additional hardwares and the unreliable distance indications such as RSSI and LQI. Nevertheless, the simulation results show that the WMRL with two rings twice outperforms centroid algorithm. In the case of WMRL with three rings, the accuracy is approximately equal to WCL(Weighted Centroid Localization).

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.8
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• pp.750-757
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• 2011

Wireless Sensor Network is composed of a lot of sensor nodes that are densely deployed in a field. So generally this sensor nodes are spreaded using Helicopter or Fixed wing. Each node delivers own location and acquired information to user when it detects specific events. In this paper, we propose localization algorithm without range information in wireless sensor network using helicopter. Helicopter broadcasts periodically beacon signal for sensor nodes. Sensor nodes stored own memory this beacon signal until to find another beacon point(satisfied special condition). This paper develops a localization mechanism using the geometry conjecture(perpendicular bisector of a chord) to know own location. And the simulation results demonstrate that our localization scheme outperforms Centroid, APIT in terms of a higher location accuracy.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.11
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• pp.1050-1056
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• 2015

In this paper, we use the characteristics of electromagnetic waves underwater attenuation for estimating linear distance between a transmitting node and receiving node, and research underwater vertical plane attenuation model for constructing the underwater localization system. The underwater localization of 2 dimensional with the plane attenuation model in the horizontal plane (H-plane) was proposed previous research. But for the 3 dimensional underwater localization, the additional vertical plane (E-plane) model should be considered. Because the horizontal plane of omnidirectional antenna has the same attenuation tendency in x-y plane according to the distance, whereas in vertical plane shows an irregular pattern in x-z plane. For that reason, in the vertical plane environment, the attenuation should be changed by the position and inclination. Hence, in this paper the distance and angle between transmitting and receiving node are defined using spherical coordinate system and derive an antenna gain pattern using half power beam width (HPBW). The HPBW is called a term which defines antenna's performance between isotropic and other antennas. This paper derives omnidirectional antenna's maximum gain and attenuation pattern model and define vertical plane's gain pattern model using HPBW. Finally, experimental verifications for the proposed underwater vertical plane's attenuation model was executed.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.18 no.5
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• pp.1317-1340
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• 2024

With the rapid development of information technology, people's demands on precise indoor positioning are increasing. Wireless sensor network, as the most commonly used indoor positioning sensor, performs a vital part for precise indoor positioning. However, in indoor positioning, obstacles and other uncontrollable factors make the localization precision not very accurate. Ultra-wide band (UWB) can achieve high precision centimeter-level positioning capability. Inertial navigation system (INS), which is a totally independent system of guidance, has high positioning accuracy. The combination of UWB and INS can not only decrease the impact of non-line-of-sight (NLOS) on localization, but also solve the accumulated error problem of inertial navigation system. In the paper, a fused UWB and INS positioning method is presented. The UWB data is firstly clustered using the Fuzzy C-means (FCM). And the Z hypothesis testing is proposed to determine whether there is a NLOS distance on a link where a beacon node is located. If there is, then the beacon node is removed, and conversely used to localize the mobile node using Least Squares localization. When the number of remaining beacon nodes is less than three, a robust extended Kalman filter with M-estimation would be utilized for localizing mobile nodes. The UWB is merged with the INS data by using the extended Kalman filter to acquire the final location estimate. Simulation and experimental results indicate that the proposed method has superior localization precision in comparison with the current algorithms.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.994-1001
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• 2009

CSS (Chirp Spread Spectrum) specified in IEEE 802.15.4a can be used for ranging applications. In this paper, we apply the CSS to estimate the coordinates of a mobile robot. Four anchor nodes are installed at known positions and a tag node is attached to the target mobile robot. By CSS ranging, we measure the distances between each anchor and the tag node. Based on the measured distances, the coordinates of the mobile robot can be calculated by the method of trilateration. However the calculated coordinates are not accurate because of the errors of the measured distances. Therefore we propose an algorithm for reducing the effect of the errors. The proposed algorithm is executed with the extended Kalman filter. Through localization experiments, we show the performance of the proposed algorithm and the accuracy of the estimated position.

• Annual Conference of KIPS
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• 2010.11a
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• pp.837-840
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• 2010

Wireless Sensor Networks have been proposed for several location-dependent applications. For such systems, the cost and limitations of the hardware on sensing nodes prevent the use of range-based localization schemes that depend on absolute point to point distance estimates. Because coarse accuracy is sufficient for most sensor network applications, solutions in range-free localization are being pursued as a cost-effective alternative to more expensive range-based approaches. In this paper, we proposed a Coefficient Allocated DV-Hop (CA DV-Hop) algorithm which reduces node's location error by awarding a credit value with respect to number of hops of each anchor to an unknown node. Simulation results have verified the high estimation accuracy with our approach which outperforms the classical DV-Hop.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.491-493
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• 2006

We introduce Location PDA Program which is a mobile system to display current location on PDA. The current location is calculated based on collecting location through each fixed node. Each fixed node sends location information of mobile node to Cell Manager system. And then, Cell Manager calculates final location based on related information and sends it to every mobile system which is connected to server and displays current location.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.1
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• pp.96-116
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• 2016

Sensing coverage is a fundamental issue for Wireless Sensor Networks (WSNs). Several coverage configuration protocols have been developed; most of them presume the availability of precise knowledge about each node location via GPS receivers. However, equipping each sensor node with a GPS is very expensive in terms of both energy and cost. On the other hand, several GPS-less localization algorithms that aim at obtaining nodes locations with a low cost have been proposed. Although their deep correlation, sensing coverage and localization have long been treated separately. In this paper, we analyze, design and evaluate a novel integrated framework providing both localization and coverage guarantees for WSNs. We integrate the well-known Coverage Configuration Protocol CCP with an improved version of the localization algorithm AT-Dist. We enhanced the original specification of AT-Dist in order to guarantee the necessary localization accuracy required by CCP. In our proposed framework, a few number of nodes are assumed to know their exact positions and dynamically vary their transmission ranges. The remaining sensors positions are derived, as accurately as possible, using this little initial location information. All nodes positions (exact and derived) are then used as an input for the coverage module. Extensive simulation results show that, even with a very low anchor density, our proposal reaches the same performance and efficiency as the ideal CCP based on complete and precise knowledge of sensors coordinates.