A good design of node location is critical for efficient 

and effective wireless communications. This paper presents an 

improved algorithm, in order to solve the low localization 

accuracy caused by traditional centroid algorithm. The 

improved algorithm combined with VIRE system and 

traditional centroid algorithm. The VIRE algorithm is 

introduced and the signal propagation model is utilized to 

construct virtual reference tags in the location area. Simulation shows that this further developed algorithm has further improved the accuracy of positioning up to 35.12% compared 

to the traditional centroid algorithm. It is concluded that this algorithm can further improve the locating accuracy in comparison with the original centroid algorithm

Lei, Qian

Long, Hua

Lu, Joan

Xu, Qiang

English

University of Huddersfield Repository

University of Huddersfield RepositoryLu, Joan, Long, Hua, Xu, Qiang and Lei, QianA New RSSI-based Centroid Localization Algorithm by Use of Virtual Reference TagsOriginal CitationLu, Joan, Long, Hua, Xu, Qiang and Lei, Qian (2013) A New RSSI-based Centroid Localization Algorithm by Use of Virtual Reference Tags. In: The Third International Conference on Advanced Communications and Computation. INFOCOMP 2013 . IARIA, Lisbon, Portugal, pp. 122-128. ISBN 978-1-61208-310-0 This version is available at http://eprints.hud.ac.uk/22088/The University Repository is a digital collection of the research output of theUniversity, available on Open Access. Copyright and Moral Rights for the itemson this site are retained by the individual author and/or other copyright owners.Users may access full items free of charge; copies of full text items generallycan be reproduced, displayed or performed and given to third parties in anyformat or medium for personal research or study, educational or not-for-profitpurposes without prior permission or charge, provided:• The authors, title and full bibliographic details is credited in any copy;• A hyperlink and/or URL is included for the original metadata page; and• The content is not changed in any way.For more information, including our policy and submission procedure, pleasecontact the Repository Team at: E.mailbox@hud.ac.uk.http://eprints.hud.ac.uk/A New RSSI-based Centroid Localization Algorithm by Use of Virtual Reference Tags   Hua Long1,2, Joan Lu1, Qiang Xu1  1School of Computing and Engineering,  University of Huddersfield, Huddersfield, UK 2Faculty of Information and Automation, Kunming University of Science and Technology, Kunming, Yunnan, P. R. China 1670931890@qq.com; {j.lu,q.xu2}@hud.ac.uk Qian Lei Faculty of Information and Automation, Kunming University of Science and Technology, Kunming, Yunnan, P. R. China 1670931890@qq.com        Abstract—A good design of node location is critical for efficient and effective wireless communications. This paper presents an improved algorithm, in order to solve the low localization accuracy caused by traditional centroid algorithm. The improved algorithm combined with VIRE system and traditional centroid algorithm. The VIRE algorithm is introduced and the signal propagation model is utilized to construct virtual reference tags in the location area. Simulation shows that this further developed algorithm has further improved the accuracy of positioning up to 35.12% compared to the traditional centroid algorithm. It is concluded that this algorithm can further improve the locating accuracy in comparison with the original centroid algorithm.  Keywords–VIRE algorithm; Virtual reference tags; RSS; Centroid algorithm. I.  INTRODUCTION  Node localization is one of the core technologies in Wireless Sensor Network (WSN) [1]. Currently, the localization algorithm of wireless sensor network can be divided into two categories: the distance-independence [2] and distance-dependence [3].   The common positioning algorithms of distance-independence are centroid algorithm and Approximate Point-In-triangulation Test (APIT) [4, 5]. Bulusu et al. [4] introduced a node positioning technology-centroid algorithm that has a lower computational complexity than that of the trilateration [5]. The positioning algorithm, such as Received Signal Strength Indicator (RSSI), of distance-dependence has better accuracy, but the survival of the network is stronger when the unknown node has not had a high positioning accuracy.  In order to improve the accuracy of centroid localization, this paper proposes a modified algorithm similar to the Virtual Reference Elimination (VIRE) algorithm [6]. This modified algorithm uses the signal propagation model [7] to construct the Received Signal Strength Indicator (RSSI) [8] information of virtual reference tags in location area and locates the object using traditional centroid algorithm. The VIRE realizes accurate position using a linear interpolation algorithm with adding a grid virtual reference tags based on the LANDMARC [9] algorithm.  To reduce the redundant calculation of VIRE algorithm, Shi et al. [10] used Subregion Selection (SRS) mechanism to reduce the interpolation area, and a nonlinear interpolation algorithm to calculate the RSSI values of virtual reference tags. Nevertheless, the location accuracy is affected by dividing areas [10].  To solve the above problem, this paper proposes an improved algorithm that combines with VIRE system and the original centroid algorithm according to the VIRE algorithm and the RSSI information of virtual reference tags that are established by signal transmission model in the location area. The simulation results show that the algorithm can further improve the locating accuracy without any additional hardware overhead in comparison with the original centroid algorithm. The rest of the paper will be organized as follows. Section II will describe RSSI location, VIRE disposing and transmission model of wireless signal. Section III will describe the detailed research approach. Section IV will describe the experiments and error analysis. Finally, Section V will draw the conclusion and future work. II. RELATED  WORK  A. Ranging methods According to the physical medium, there are four popularly ranging methods in the signal communications of sensor systems: 1) the RSSI (Received Signal Strength Indicator) [8], 2) the TOA (Time Of Arrival) [11], 3) the TDOA (Time Difference Of Arrival) [12], and 4) the AOA (Angle Of Arrival) [13]. The performance comparison of four ranging methods is shown in Table I.         122Copyright (c) IARIA, 2013.     ISBN:  978-1-61208-310-0INFOCOMP 2013 : The Third International Conference on Advanced Communications and ComputationTABLE I. THE COMPARISON OF RANGING METHOD BASED ON DISTANCE   The TOA algorithm requires GPS-assisted equipment, which is not used in the indoor environment [16]. Ultrasonic transmission distance is limited, which is usually less than 10 meters, affected by angle, temperature, and obstructions [17]. The AOA is reliable only in the line of sight signal dominant circumstances [18]. It follows that these limitations of three positioning methods lead to an extreme difficulty in dealing with the complex indoor environments. The RSSI-based ranging method has the advantages of long transmission distance, lower cost, lower power consumption, easy node hardware, small size, and light weight [19]. However, the positioning accuracy of RSSI based methods is low, as it can only be used as a rough ranging method [19]. Thus, its positioning accuracy must be improved by an adjunct way. B. Transmission model of wireless signal  The Received Signal Strength Indictor (RSSI) converts the loss during the process of transmission according to the signal intensity of transmitting and node received [14]. In the indoor location, the RSSI ranging signal propagation model can be simplified as (1) in consideration of environmental, cost, location accuracy requirements and other factors:          )logn10( 1101 kdRSSI +−=      (1) wherein, n1 is the signal attenuation factor that is from 2 to 4; d is the distance of reference node and object node; k1 is the measured RSSI of one meter, with the unit of dBm. III. RESEARCH APPROACH The approach is designed in two phases: first, the system structure and the algorithm based on virtual tags; second, the realization of algorithm in VIRE system. A. System structure and algorithm based on virtual tags 1)  Construction of VIRE system (VIRE disposing) ‘Virtual Reference Elimination’ (VIRE) is introduced in [6]. In the VIRE, instead of deploying many real reference RFID tags, the concept of virtual reference tags is provided as denser reference coverage in the sensing areas. The distribution of VIRE reader iR and reference tags, aT , bT , cT  and dT  are shown in Figure 1 with  relationship, +∈Ndc,b,a, . The object tags are in the range of specified area. The core of VIRE method is related to 4 reference tags as a unit grid: N1xN1, shown in Figure 2.    Figure 1. The distribution of VIRE readers and tags  Figure 2. The distribution of virtual reference tags  Under the condition of known values of reference tags’ position and density, the field strength of virtual reference tags in both horizontal and vertical directions is calculated by (2) and (3):   1RiRiRiRi),(),1(),(),(NbaEbNaEtbaEbtE −+×+=   (2) 1RiRi),()1,(),(),(NbaENbaEuyaEyuE RiRi−+×+=   (3) wherein, RiE  is RSSI value of reference tag located at the coordinate ),( ji  for the iR  reader. The values of parameters are  1/ Nia = ,  1/ Njb = , t is known and located at x axis as the interval of object virtual reference tag, and u is known and located at y axis as the interval of object virtual reference tag. Under the conditions of known values of the field intensity of reference tags and virtual reference tags, LANDMARC algorithm is normally used to select a certain threshold for solving the nearest reference tag weights, in order to obtain positioning results [10]. According to the VIRE system, this paper gives a further development of the positioning method. 123Copyright (c) IARIA, 2013.     ISBN:  978-1-61208-310-0INFOCOMP 2013 : The Third International Conference on Advanced Communications and Computation Figure 3. The definition of virtual reference tags area The positioning system is for a two-dimensional plane. The location area has a size of S×T, where reference tags are the four vertices of the region, and the coordinates are )0,0(1T , ),0(2 TT , ),(3 TST , ),0(4 ST . Four readers are placed on those vertices, as shown in Figure 3.  Assuming the Coordinate of virtual reference tag D is (xi, yj), the Euclidean distance between D and reference tags Ti   are:            2i2i yx1 +=PTD           2i2i -yx2 ）（ TDPT +=        2i2i -y-x3 ）（）（ TSDPT +=  (4)           2i2i y-x4 += ）（ SDPT  According to above (4), the tables are established for the four reference tags shown in Table II below.  TABLE II. VIRTUAL REFERENCE TAGS RSSI FOR REFERENCE TAGS Distance of virtual reference Tags to the reference tags RSSI value of virtual reference Tags relative to the reference tags 1PTD  1PTRSSI  2PTD  2PTRSSI  3PTD  3PTRSSI  4PTD  4PTRSSI  There are   4)11( 2 −+N  data in the table.   Figure 4. Process of selection of virtual reference tags  2) The selection of virtual tags An object node is located at ),( qq yxQ , the RSSI values will be read by readers at four corners. A comparison was carried out with the virtual reference tags’RSSI from readers. The virtual reference tags that are nearest distance between ),( qq yxQ are selected according to the following algorism. IF QRSSI >0           THEN                    for i=1 to (N1+1)2 -4                         do iVQi RSSIRSSIValue −=                             ELSE                                Return (min Valuei)                                 Return i                               end  End  The four virtual reference tags are selected in Figure 4 as below.  ),(111 vvyxV , ),,(222 vvyxV ),,(333 vv yxV ),( 444 vv yxV  B. The realization of algorithm in VIRE system 1) Traditional centroid algorithm According to the traditional centroid algorithm, the four virtual reference tags are selected to form an enclosed area that is the estimated area of the object node [12]. By (5), the estimate coordinates of object node can be calculated.  +++=+++=)(41)(4143214321qqvvvvvvvvyyyyyxxxxx                 (5)  124Copyright (c) IARIA, 2013.     ISBN:  978-1-61208-310-0INFOCOMP 2013 : The Third International Conference on Advanced Communications and Computation        Figure 5. The schematic diagram of the renewed centroid algorithm  2)  Renewed centroid algorithm Through narrowing down the testing area, a key improvement of centroid algorithm in positioning accuracy is described as follows.  According to the geometric relationship, in Figure 5, the coordinates: e, f, g, h, and o, are defined in the following relationships of (6), (7), (8), (9) and (10):                     )(21)(213232vvevveyyyxxx+=+=                                     (6)  )(21)(212121vvfvvfyyyxxx+=+=          (7)  )(21)(214343vvevvgyyyxxx+=+=         (8)        )(21)(214141vvhvvhyyyxxx+=+=           (9) )(41)(4143214321vvvvovvvvoyyyyyxxxxx+++=+++=  (10)  The process of the renewed algorithm is as shown in Table III.  TABLE III. PROCESS OF THE RENEWED ALGORITHM  125Copyright (c) IARIA, 2013.     ISBN:  978-1-61208-310-0INFOCOMP 2013 : The Third International Conference on Advanced Communications and ComputationIV. THE SIMULATION AND ERROR ANALYSIS In the simulation experiment, Matlab7.6.0 software is used. There are two indicators of size set up and the positioning accuracy is set as the evaluation criteria, when the positioning precision, scale, network coverage rate, and power consumption are often used as the evaluation index in the WSN. In the simulation experiment, the WSN area is set that the S and T are equal to 90. The reference tags are located at the four vertices of this area and uniformly distributed. The positioning error of the object nodes is defined in (11): 12realq2realqs)y-(y)x-(xorAverageErr+=    (11) Wherein, s1 is the times of the Simulation.  A. Searching the optimum number of the virtual reference tags As shown in Table IV, ten object nodes’ RSSI are from the reader iR , where i is shown as 1, 2, 3, 4.  TABLE IV OBJECT NODES’S RSSI   When the number of the virtual reference tags increases, the error in comparison with the two algorithms are illustrated in Figures 6 and 7. Figure 6 shows that there is no obvious change between the two algorithms, if the number of the virtual reference tags is above 121 and the 90/N2 is greater than 10. The best performance shows that the number of the virtual reference tags is 49 when 90/N2 is equal to 6. It follows that the renewed centroid algorithm could further improve the accuracy compared with the traditional centroid algorithm.  Figure 6. The difference between two algorithms 126Copyright (c) IARIA, 2013.     ISBN:  978-1-61208-310-0INFOCOMP 2013 : The Third International Conference on Advanced Communications and Computation Figure 7. The error comparison of two algorithms when the number of the virtual reference tags increases B. Comparison of the two algorithms when the number of virtual reference tags is 49  Figure 8 shows that the results are obtained by (5) from the test for 100 times. It is clear that the renewed centroid algorithm gets a further improved localization accuracy compared with the traditional one.   Figure 8. The comparison of the two algorithms C. Error analysis For the virtual reference tags, they may not be able to choose four ones near the object node, or four virtual reference tags are repeatedly chosen, as it may lead to excessive error(s). In the radio propagation model, the signal is disturbed by the external environment instead of being transmitted in free space. Through repeated measurements and the statistical average value, some error can be reduced, although the further improvement is still needed. V. CONCLUSION AND FUTURE WORK A. Achievements One of the hot topics in WSN is localization of the object node. The paper proposes an improved centroid algorithm combined with the VIRE system. The algorithm is simple. The positioning accuracy of the object nodes has been improved significantly in comparison with the traditional centroid algorithm. This new algorithm can be used to solve the problem of the low localization accuracy of the traditional centroid algorithm. 127Copyright (c) IARIA, 2013.     ISBN:  978-1-61208-310-0INFOCOMP 2013 : The Third International Conference on Advanced Communications and ComputationB. Future work However, there are still some shortcomings existing in the positioning methods. On one hand, the signal propagation model applicable to non-free-space conditions needs further research. On the other hand, the selection methods of the virtual reference tags need further optimization so as to further improve the positioning accuracy.  Acknowledgement: authors thank Dr Sawsaa’s feedback and proof reading for the final version of the paper.  REFERENCES   [1] S. K. Low, H. A. Nguyen, and H. Guo, Optimization of sensor node locations in a WSN[C]//Fourth International Conference on Natural Computation. 2008, pp. 286-290. [2] G. Mao, B. Fidan, and B. D. O. Anderson, “Wireless sensor network localization techniques,” Comput. Netw., vol. 51, pp. 2529–2553, 2007. [3] C. Liu, H. Jiang, and D. Wang, Range-based node localization algorithm for wireless sensor network using Unitary Matrix pencil[C]//Test and Measurement, 2009, ICTM'09, International Conference on. IEEE, 2009, vol. 2, pp. 128-132. [4] N. Bulusu, J. Heidemann, and D. Estrin, GPS-less low-cost outdoor localization for very small devices [J], Personal Communications, IEEE, 2000, vol. 7(5), pp. 28-34. [5] D. Moore, J. Leonard, and D. Rus, Robust Distributed Network Localization with Noisy Range Measurements[C]. Proceedings of the 2nd International Conference on Embedded Networked Sensor Systems, Baltimore, USA, 2004: 50-61. [6] Z. Yiyang and L. 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A new approach to the geometry of TOA location

A new weighted centroid localization algorithm based on RSSI, [C]//Information and Automation (ICIA),

A Novel Ranging Method Based on RSSI, original research article, Energy Procedia,

A TDOA-based localization using precise timesynchronization[C],

Active RFID-based localization using virtual reference elimination[C],

An Efficient Indoor Location Algorithm Based on

Estimation of diffraction effect in ultrasonic attenuation by throughtransmission substitution technique, original research article, Ultrasonics,

GPS-less indoor construction location sensing, original research article,

GPS-less lowcost outdoor localization for very small devices [J], Personal Communications,

Guest editors' introduction: overview of sensor networks

Indoor localization method based on RTT and AOA using coordinates clustering, original research article,

LANDMARC: Indoor location sensing using active RFID [J], Wireless Networks,

Locating Tiny Sensors in Time and Space: A Case Study,

Optimization of sensor node locations

Range-based node localization algorithm for wireless sensor network using Unitary Matrix pencil[C]//Test and Measurement,

Robust Distributed Network Localization with Noisy Range Measurements[C].

Two-dimension localization of passive RFID tags using AOA estimation,

Wireless Communications Networking and Mobile Computing (WiCOM),

Wireless sensor network localization techniques,”

A New RSSI-based Centroid Localization Algorithm by Use of Virtual Reference Tags

A New RSSI-based Centroid Localization Algorithm by Use of Virtual Reference Tags

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