Localization of Sensor Networks (40 pages)

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Localization of Sensor Networks



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Localization of Sensor Networks

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Lecture Notes


Pages:
40
School:
Stony Brook University
Course:
Cse 590 - Topics in Computer Science
Topics in Computer Science Documents

Unformatted text preview:

Localization of Sensor Networks Jie Gao Computer Science Department Stony Brook University 9 13 05 Jie Gao CSE590 fall05 1 Papers D Moore J Leonard D Rus S Teller Robust distributed network localization with noisy range measurements Proc ACM SenSys 2004 Anchor free method Rigidity aware 9 13 05 Jie Gao CSE590 fall05 2 Trilateration without noise If three anchors are not on the same line trilateration with accurate distance measurements gives a unique location Exercise verify this 9 13 05 Jie Gao CSE590 fall05 3 Trilateration with noise 9 13 05 With noisy measurements trilateration can have flip ambiguity Jie Gao CSE590 fall05 4 Use quadrilaterals 9 13 05 Four nodes with fixed pair wise distances It is the smallest 3 connected redundantly rigid graph globally rigid Jie Gao CSE590 fall05 5 Robust quadrilaterals If measurement noise is bounded the quadrilateral has no incorrect flip Incorrect flip can t verify whether C or C is correct d err d C D d CD 2 d AB 9 13 05 sin 2 4sin 2 sin 2 sin 2sin 2 Jie Gao CSE590 fall05 6 Robust quadrilaterals If measurement noise is bounded the quadrilateral has no incorrect flip Minimize the error by choosing 2 2 d err d AB sin 2 Robust quadrilateral satisfies d err b sin 2 Where b is the shortest side and is the smallest angle 9 13 05 Jie Gao CSE590 fall05 7 Clusters 9 13 05 Robust quads that share three nodes can be merged into clusters The cluster is still a 3 connected redundantly rigid graph globally rigid Actually it has 3n 6 edges Jie Gao CSE590 fall05 8 Three phases Cluster localization Each node x find its local robust quadrilaterals Merge them to a robust cluster around x optional cluster optimization Refine the nodes location inside a cluster Cluster transformation 9 13 05 Glue the local quadrilaterals together Transformation to a global coordinate system Jie Gao CSE590 fall05 9 Algorithm phase I cluster localization 1 2 3 4 9 13 05 Each node x gets the distance measurements between each pair of 1 hop neighbors Identify the



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