Position and Orientation Estimation of a Rigid Body: Rigid Body Localization

Rigid body localization refers to a problem of estimating the position of a rigid body along with its orientation using anchors. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the rigid body is not known, but, the relative position of the sensors or the topology of the sensors on the rigid body is known. We express the absolute position of the sensors as an affine function of the Stiefel manifold and propose a simple least-squares (LS) estimator as well as a constrained total least-squares (CTLS) estimator to jointly estimate the orientation and the position of the rigid body. To account for the perturbations of the sensors, we also propose a constrained total least-squares (CTLS) estimator. Analytical closed-form solutions for the proposed estimators are provided. Simulations are used to corroborate and analyze the performance of the proposed estimators.Comment: 4 pages and 1 reference page; 3 Figures; In Proc. of ICASSP 201

Novel Localization of Sensor Nodes in Wireless Sensor Networks using Co-Ordinate Signal Strength Database

AbstractThe objective of the proposed system is to remove the dependency of radio irregularity problem in localization of static nodes in wireless sensor networks. Most of the existing range free localization algorithms are mainly suffered by the radio irregularity problem. The value of the degree of irregularity always affects the accuracy of the localization performance. The idea of this work is to calculate the location of sensor nodes using co-ordinate signal strength database. In wireless sensor networks, each flying anchor node will be equipped with a GPS receiver. The flying node calculates its position, which is transmitted as a beacon message to the sensor nodes. Upon reception of the beacon messages, each static node calculates its location using the ‘Sensor Position based on Co-ordinate Signal Strength Database’ (SP-CSSD) algorithm. The proposed idea increases the accuracy of the localization algorithm with minimal computational overhead and computational time

Robust Localization Algorithm Based on Best Length Optimization for Wireless Sensor Networks

In this paper, a robust range-free localization algorithm by realizing best hop length optimization is proposed for node localization problem in wireless sensor networks (WSNs). This algorithm is derived from classic DV-Hop method but the critical hop length between any relay nodes is accurately computed and refined in space WSNs with arbitrary network connectivity. In case of network parameters hop length between nodes can be derived without complicated computation and further optimized using Kalman filtering in which guarantees robustness even in complicated environment with random node communication range. Especially sensor fusion techniques used has well gained robustness, accuracy, scalability, and power efficiency even without accurate distance or angle measurement which is more suitable in nonlinear conditions and power limited WSNs environment. Simulation results indicate it gained high accuracy compared with DV-Hop and Centroid methods in random communication range conditions which proves it gives characteristic of high robustness. Also it needs relatively little computation time which possesses high efficiency. It can well solve localization problem with many unknown nosed in the network and results prove the theoretical analysis

Wireless Sensor Localization: Error Modeling and Analysis for Evaluation and Precision

Wireless sensor networks (WSNs) have shown promise in a broad range of applications. One of the primary challenges in leveraging WSNs lies in gathering accurate position information for the deployed sensors while minimizing power cost. In this research, detailed background research is discussed regarding existing methods and assumptions of modeling methods and processes for estimating sensor positions. Several novel localization methods are developed by applying rigorous mathematical and statistical principles, which exploit constraining properties of the physical problem in order to produce improved location estimates. These methods are suitable for one-, two-, and three-dimensional position estimation in ascending order of difficulty and complexity. Unlike many previously existing methods, the techniques presented in this dissertation utilize practical, realistic assumptions and are progressively designed to mitigate incrementally discovered limitations. The design and results of a developed multiple-layered simulation environment are also presented that model and characterize the developed methods. The approach, developed methodologies, and software infrastructure presented in this dissertation provide a framework for future endeavors within the field of wireless sensor networks

Intelligent UAV-Assisted Localisation to Conserve Battery Energy in Military Sensor Networks

Wireless sensor networks (WSNs) are extensively used in military applications for border area monitoring, battle-field surveillance, tracking enemy troops, where the sensor nodes run on battery power. Localisation of sensor nodes is extremely important to identify the location of event in military applications for further actions. Existing localisation algorithms consume more energy by heavy computation and communication overheads. The objective of the proposed research is to increase the lifetime of the military sensor networks by reducing the power consumption in each sensor node during localisation. For the state-of-the-art, we propose a novel intelligent unmanned aerial vehicle anchor node (IUAN) with an intelligent arc selection (IAS)-based centralised localisation algorithm, which removes computation cost and reduces communication cost at every sensor node. The IUAN collects the signal strength, distance data from sensor nodes and the central control station (CCS) computes the position of sensor nodes using IAS algorithm. Our approach significantly removes computation cost and reduces communication cost at each sensor node during localisation, thereby radically extends the lifetime and localisation coverage of the military sensor networks.Science Journal, Vol. 64, No. 6, November 2014, pp.557-563, DOI:http://dx.doi.org/10.14429/dsj.64.529

A Multi-hop Topology Control Based on Inter-node Range Measurement for Wireless Sensor Networks Node Localization

In centralized range-based localization techniques, sufficiency of inter-node range information received by the base station strongly affects node position estimation results. Successful data aggregation is influenced by link stability of each connection of routes, especially in a multi-hop topology model. In general, measuring the inter-node range is only performed for position determination purposes. This research introduces the use of inter-node range measurement information for link selection in a multi-hop route composition in order to increase the rate of data aggregation. Due to irregularity problems of wireless media, two areas of node communication have been considered. The regular communication area is the area in which other nodes are able to perform symmetrical communication to the node without failure. The irregular area is the area in which other nodes are seldom able to communicate. Due to its instability, some existing methods tried to avoid the irregular area completely. The proposed method, named Virtual Boundaries (VBs) prioritizes these areas. The regular communication area’s nodes have high priority to be selected as link vertices; however, when there is no link candidate inside this area, nodes within the irregular area will be selected with respect to their range to the parent node. This technique resulted in a more robust multi-hop topology that can reduce isolated node numbers and increase the percentage of data collected by the base station accordingly

A Low Cost UWB Based Solution for Direct Georeferencing UAV Photogrammetry

Thanks to their flexibility and availability at reduced costs, Unmanned Aerial Vehicles (UAVs) have been recently used on a wide range of applications and conditions. Among these, they can play an important role in monitoring critical events (e.g., disaster monitoring) when the presence of humans close to the scene shall be avoided for safety reasons, in precision farming and surveying. Despite the very large number of possible applications, their usage is mainly limited by the availability of the Global Navigation Satellite System (GNSS) in the considered environment: indeed, GNSS is of fundamental importance in order to reduce positioning error derived by the drift of (low-cost) Micro-Electro-Mechanical Systems (MEMS) internal sensors. In order to make the usage of UAVs possible even in critical environments (when GNSS is not available or not reliable, e.g., close to mountains or in city centers, close to high buildings), this paper considers the use of a low cost Ultra Wide-Band (UWB) system as the positioning method. Furthermore, assuming the use of a calibrated camera, UWB positioning is exploited to achieve metric reconstruction on a local coordinate system. Once the georeferenced position of at least three points (e.g., positions of three UWB devices) is known, then georeferencing can be obtained, as well. The proposed approach is validated on a specific case study, the reconstruction of the façade of a university building. Average error on 90 check points distributed over the building façade, obtained by georeferencing by means of the georeferenced positions of four UWB devices at fixed positions, is 0.29 m. For comparison, the average error obtained by using four ground control points is 0.18 m

Enhanced Performance Cooperative Localization Wireless Sensor Networks Based on Received-Signal-Strength Method and ACLM

There has been a rise in research interest in wireless sensor networks (WSNs) due to the potential for his or her widespread use in many various areas like home automation, security, environmental monitoring, and lots more. Wireless sensor network (WSN) localization is a very important and fundamental problem that has received a great deal of attention from the WSN research community. Determining the relative coordinate of sensor nodes within the network adds way more aiming to sense data. The research community is extremely rich in proposals to deal with this challenge in WSN. This paper explores the varied techniques proposed to deal with the acquisition of location information in WSN. In the study of the research paper finding the performance in WSN and those techniques supported the energy consumption in mobile nodes in WSN, needed to implement the technique and localization accuracy (error rate) and discuss some open issues for future research. The thought behind Internet of things is that the interconnection of the Internet-enabled things or devices to every other and human to realize some common goals. WSN localization is a lively research area with tons of proposals in terms of algorithms and techniques. Centralized localization techniques estimate every sensor node's situation on a network from a central Base Station, finding absolute or relative coordinates (positioning) with or without a reference node, usually called the anchor (beacon) node. Our proposed method minimization error rate and finding the absolute position of nodes