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APPL: Anchor Path Planning – based Localization for Wireless Sensor Networks

APPL: Anchor Path Planning – based Localization for Wireless Sensor Networks. Imane BENKHELIFA and Samira MOUSSAOUI LSI, Computer Science Department Houari Bourmediene University of Science and Technology Algiers , Algeria. Outline. Motivation & Introduction

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APPL: Anchor Path Planning – based Localization for Wireless Sensor Networks

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  1. APPL: Anchor Path Planning –basedLocalization for Wireless Sensor Networks Imane BENKHELIFA and Samira MOUSSAOUI • LSI, Computer Science Department • HouariBourmediene University of Science and Technology • Algiers, Algeria

  2. Outline Motivation & Introduction Localization in Wireless Sensor Networks Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  3. Motivation & Introduction Localization in Wireless Sensor Networks Localizationusing a Mobile Anchor APPL : Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Motivation Introduction Maritime Surveillance Forest FireDetection Monitoring Animals Precision Agriculture Monitoring Patients Battlefield Surveillance Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  4. Motivation & Introduction Localization in Wireless Sensor Networks Localizationusing a Mobile Anchor APPL : Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Motivation Introduction • WSN Attractive Caracteristics (FastDeployment, • FaultTolerance, reducedcost,… etc) • WhySensorLocalizationis important? • A detectedeventisonlyuseful if an information • relative to itsgeographical position isprovided Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  5. Outline Motivation & Introduction Localization in Wireless Sensor Networks Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  6. Motivation & Introduction Localization in Wireless Sensor Networks Localizationusing a Mobile Anchor APPL : Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Introduction RSSI Technology AoATechnology • Localization = to assignaccurate or estimated position to a sensor • Why not a GPS (Global Posionning System) in eachnode? • Solution: to equipsomenodeswith GPS  Anchors • Measurement Technologies: Costly ToA (Time of Arrival) TDoA (Time difference of Arrival) RSSI (Received Signal StrengthIndicator) AoA (Angle of Arrival) Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  7. Motivation & Introduction Localization in Wireless Sensor Networks Localizationusing a Mobile Anchor APPL : Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Introduction RSSI Technology AoATechnology • RSSI (Radio Signal StrenghtIndicator) • Considers the power loss of a signal between its emission and reception • This loss varies with the distance between two sensors. • More the sensors are distant (resp. close), more the loss is • important (resp.weak) • This loss is then converted to a distance Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  8. Motivation & Introduction Localization in Wireless Sensor Networks Localizationusing a Mobile Anchor APPL : Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Introduction RSSI Technology AoATechnology • AoA (Angle of Arrival) • Eachsensor has an orientedantenna and a reference axis Absolute AoA :(θi +Δθ )(mod 2 π), i = {1,2} Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  9. Outline Motivation & Introduction Localization in Wireless Sensor Networks Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  10. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL : Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Introduction Scan Trajectory Double Scan Trajectory Hilbert Trajectory • Manyanchorsequippedwith GPSEnergycomsuption & • highcosts • Solution: using a mobile anchor (robot, plane, drone, • vehicle, tractor…) Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  11. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL : Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Introduction Scan Trajectory Double Scan Trajectory Hilbert Trajectory • Other than serving as a mobile anchor, the mobile node can perform other tasks necessary for the network operations • Tasks: • Reconfigures or recalibrates sensors, • Synchronizes the clocks, • Collects data from the sensors , • Deploys new sensors, and disables existing ones Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  12. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL : Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Introduction Scan Trajectory Double Scan Trajectory Hilbert Trajectory • Methodusing a mobile Anchor [Kouts. 07] • Goal: • Planning the anchortrajectory • Reducing the Localizationerror and Time • Principle: • Based on RSSI (conversion of signal to distance) • BayesianInference (Probabilisticapproch) • Trajectories: • SCAN • DOUBLE SCAN • HILBERT Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  13. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL : Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Introduction Scan Trajectory Double Scan Trajectory Hilbert Trajectory • Advantages: • Good coverage of nodes • Short traveled distance • Reducedlocalization time • Drawbacks: • Abscissa-errorisbiggerthanordinate- • error if resolution >> transmission range • Straight lines introduce collinearity R L D= (L/R+1)x L+(L/R)x R= (L/R+2)x L Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  14. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL : Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Introduction Scan Trajectory Double Scan Trajectory Hilbert Trajectory • Advantages: • Scans 2 dimensions • (horizontal & vertical) • Ensureserror-similarityalongboth axis • Drawbacks: • Double distance / resolution • Higherlocalization time/error R L D= 2x DSCAN = 2 (L/R+2)x L Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  15. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Introduction Scan Trajectory Double Scan Trajectory Hilbert Trajectory • Advantages: • Traveled distance differsonly in R • from SCAN • Diffusion of non-colinear messages • Similarerrorbetween x/y axis • Drawbacks: • Somenodescannotreceiveanchor • messages (square holes) R L D= (L/R+2)x L +R Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  16. Outline Motivation & Introduction Localization in Wireless Sensor Networks Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  17. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Estimation Technique Anchor Path Planning Squares Trajectory Archimedian Spiral Trajectory WavesTrajectory • APPL (Anchor Path Planning basedLocalization) Principle: • One single Mobile Anchor • Anchor Trajectoryischosen in advance • AtEachreception of anchor message, the staticnoderebuilds an Anchor Box • The Anchor Box isbuiltbased on distances deducedfrom the received RSSI • The nodedrawsNsamplesfromthis box • The estimated position is the mean of samples Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  18. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Estimation Technique Anchor Path Planning Squares Trajectory Archimedian Spiral Trajectory WavesTrajectory • Building the Anchor Box r2 Actual Position r3 Estimated Position r1 Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  19. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Estimation Technique Anchor Path Planning Squares Trajectory Archimedian Spiral Trajectory WavesTrajectory • AnchorPath Planning • To offer network coverage any deterministic trajectory with properly selected parameters • To provide good quality beacons non-collinear messages, and signal strengths can be mapped to their distances from the sensor • Anchor Trajectories - Squares - Archimedean Spiral - Waves Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  20. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Estimation Technique Anchor Path Planning Squares Trajectory Archimedian Spiral Trajectory WavesTrajectory • SquaresTrajectory • Advantages: • Sametraveled distance as Scan • Good nodecoverage • 2 dimentional scan • Similarerrorbetween x/y axis • Drawbacks: • Straight lines introduce collinearity if resolution >> transmission range L R L D= R+4 [(L-2R)+(L-4R)+(L-6R)+….+(L-2[L/2R]R)] = (L/R+2)x L Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011) 20

  21. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Estimation Technique Anchor Path Planning Squares Trajectory Archimedian Spiral Trajectory WavesTrajectory • Archimedean Spiral Trajectory • Advantages: • Traveled distance lessthan SCAN with+ 37% •  Localization time reduced • Reception of non-colinear messages • Similarerrorbetween the two axis • Drawbacks: • Coverage of the four corners • If the deployment area increases, turns • become larger  the amount of non- • collinearity reduces R Distance ≤ Rπn/4 (4n-1) withn= [L/2R] + 1 Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011) 21 21

  22. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Estimation Technique Anchor Path Planning Squares Trajectory Archimedian Spiral Trajectory WavesTrajectory • WavesTrajectory • Advantages: • Reception of many non-colinear • messages fromonly one segment • Traveled Distance lessthan SCAN with • 16% • Good network coverage • x/y errorsimilarity 3R/2 R Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011) 22 22 D=2R/3 ( [ 2L/3]-1 ) + (1+ ([L/R ]-1) ([ 2L/3R ])) (π R/2 )

  23. Outline Motivation & Introduction Localization in Wireless Sensor Networks Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  24. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Simulation Environment Estimation Technique Evaluation Path Length and Travel Time Localization Coverage Localization Error • Simulation Environment: • NS2 Simulator on Linux (Ubuntu 9.10) • Deplyment area =200m x 200m • Number of nodes =100 • Transmission range =30m • Anchor speed =20m/s • Evaluation Metrics: • PathLength and Travel Time • LocalizationCoverage (Number of localizednodes) • LocalizationError(Distance betweenestimated position and real position) Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011) 24 24

  25. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Simulation Environment Estimation Technique Evaluation Path Length and Travel Time Localization Coverage Localization Error (% end time) Path =Squares, Resolution =20m Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011) 25 25

  26. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Simulation Environment Estimation Technique Evaluation Path Length and Travel Time Localization Coverage Localization Error (% end time) Path =Squares, Resolution =20m Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011) 26 26

  27. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Simulation Environment Estimation Technique Evaluation Path Length and Travel Time Localization Coverage Localization Error Resolution =20m Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011) 27 27

  28. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Simulation Environment Estimation Technique Evaluation Path Length and Travel Time Localization Coverage Localization Error Resolution =60m Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011) 28 28

  29. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Simulation Environment Estimation Technique Evaluation Path Length and Travel Time Localization Coverage Localization Error Path= Squares Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011) 29 29

  30. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Simulation Environment Estimation Technique Evaluation Path Length and Travel Time Localization Coverage Localization Error Resolution =60m Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011) 30 30

  31. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Simulation Environment Estimation Technique Evaluation Path Length and Travel Time Localization Coverage Localization Error • x/y error gap Resolution =60m Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011) 31 31

  32. Outline Motivation & Introduction Localization in Wireless Sensor Networks Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011)

  33. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Conclusion Future Directions • APPL uses a very simple localization algorithm that makes a good combination of RSSI measurements and anchor positions • Proposed Trajectories (SQUARES, ARCHILEDEAN SPIRAL and WAVES) are specifically designed with better localization accuracy, coverage and path length in mind • Squares gives the quickest coverage • Sipral gives the shortest distance • Waves gives the best accuracy • When the path resolution is much larger than the transmission range, the collinearity becomes more significant. In such cases, WAVES outperforms previously proposed path types. Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011) 33 33

  34. Motivation & Introduction Localization in Wireless SensorNetwors Localizationusing a Mobile Anchor APPL: Anchor Path Planning basedLocalization Evaluation Conclusion & Future Directions Conclusion Future Directions • The static paths work well when the sensors are assumed to be uniformly deployed. However, in the cases where such assumption is not valid, there is a strong intensive to dynamically adjust the path during the localization procedure Imane BENKHELIFA Mosharaka International Conference on Communications, Computers and Applications (MIC-CCA2011) 34 34

  35. Thankyou

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