无线传感器网络分布式节点定位算法研究
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摘要
集成了传感器、嵌入式计算、网络和无线通讯技术而成的无线传感器网络是一种全新的信息获取和处理技术,无线传感器网络可以自组织网络拓扑结构,节点间通过协同工作能够实时监测,感知和采集各种环境或监测对象的信息,并对其进行处理。无线传感器网络在国防、环境监测、空间探索、医疗卫生、精细农业、交通管理、制造业、反恐抗灾等领域具有广阔的应用前景。
无线传感器网络节点定位问题,是无线传感器网络重要的共性支撑技术之一,对其研究具有非常重要的意义。本文对已有的无线传感器网络分布式节点定位算法进行了深入的研究,跟踪了国内外在该领域的研究进展,对已有的几种典型的分布式节点定位算法做出了深入分析,定量地比较了算法的性能。并在此基础上提出了一种新的分布式节点定位算法。该算法主要在两个方面改进了定位性能:一是从提高定位精度方面,结合了相关数学原理,引入了加权最小二乘估计的方法,建立了加权定位算法的方案,以抑制迭代定位过程中累积误差的影响;二是从提高定位覆盖率方面,建立了利用两个锚节点和一个连通限制条件定位的算法模型,与三边测量定位(trilateration)、多边测量定位(multilateration)以及Euclidean算法相结合,确立了一种高覆盖率的分布式节点定位算法。通过在NS-2仿真平台上对算法的仿真实验,统计分析了各种因素对算法定位性能的影响,仿真结果表明,该算法具有良好的性能。
在实用化的定位系统研究方面,在实际的原型实验平台上实现了DV-hop定位算法,做出了实现定位系统的初步探索,奠定了进一步研究的良好基础。文章的最后对全文做了总结并对将来的研究方向做出了展望。
WSN(Wireless Sensor Network), which is made by the convergence of sensor, embedded computation, networks and wireless communication technologies, is a novel technology about acquiring and processing information. WSN have the ability to collaboratively monitoring, sensing, collecting and processing information of the physical world through ad-hoc deployment of numerous tiny, intelligent, wirelessly networked sensor nodes. Potential applications of such sensor networks span many domains: military surveillance;environmental monitoring (air, water, soil, chemistry);smart spaces;physiological monitoring;precision agriculture;transportation;factory instrumentation.Node localization provided the foundation for many application of WSN. In this paper, we first discussed several have been proposed distributed localization algorithms and quantitatively analyzed the performance. Secondly, a new distributed localization algorithms being proposed. Our approach improved the localization performance from two aspect: first, to restrain error accumulation during iterated localization process, we applying WLSE (Weighted Least Square Estimates) to node localization algorithm and choose proper weight coefficient to reduce location error;second, to improve localization coverage rate, we established a coordinate compute model based on two anchor and a connection constrain condition and integrated it with trilateration /multilateration and Euclidean algorithm.After that, we implemented DV-hop localization algorithm on our test-beds and evaluate and demonstrate the effectiveness of the localization system. Finally, we sum up this paper and the directions of research in this area are introduced.
无线传感器网络节点定位问题,是无线传感器网络重要的共性支撑技术之一,对其研究具有非常重要的意义。本文对已有的无线传感器网络分布式节点定位算法进行了深入的研究,跟踪了国内外在该领域的研究进展,对已有的几种典型的分布式节点定位算法做出了深入分析,定量地比较了算法的性能。并在此基础上提出了一种新的分布式节点定位算法。该算法主要在两个方面改进了定位性能:一是从提高定位精度方面,结合了相关数学原理,引入了加权最小二乘估计的方法,建立了加权定位算法的方案,以抑制迭代定位过程中累积误差的影响;二是从提高定位覆盖率方面,建立了利用两个锚节点和一个连通限制条件定位的算法模型,与三边测量定位(trilateration)、多边测量定位(multilateration)以及Euclidean算法相结合,确立了一种高覆盖率的分布式节点定位算法。通过在NS-2仿真平台上对算法的仿真实验,统计分析了各种因素对算法定位性能的影响,仿真结果表明,该算法具有良好的性能。
在实用化的定位系统研究方面,在实际的原型实验平台上实现了DV-hop定位算法,做出了实现定位系统的初步探索,奠定了进一步研究的良好基础。文章的最后对全文做了总结并对将来的研究方向做出了展望。
WSN(Wireless Sensor Network), which is made by the convergence of sensor, embedded computation, networks and wireless communication technologies, is a novel technology about acquiring and processing information. WSN have the ability to collaboratively monitoring, sensing, collecting and processing information of the physical world through ad-hoc deployment of numerous tiny, intelligent, wirelessly networked sensor nodes. Potential applications of such sensor networks span many domains: military surveillance;environmental monitoring (air, water, soil, chemistry);smart spaces;physiological monitoring;precision agriculture;transportation;factory instrumentation.Node localization provided the foundation for many application of WSN. In this paper, we first discussed several have been proposed distributed localization algorithms and quantitatively analyzed the performance. Secondly, a new distributed localization algorithms being proposed. Our approach improved the localization performance from two aspect: first, to restrain error accumulation during iterated localization process, we applying WLSE (Weighted Least Square Estimates) to node localization algorithm and choose proper weight coefficient to reduce location error;second, to improve localization coverage rate, we established a coordinate compute model based on two anchor and a connection constrain condition and integrated it with trilateration /multilateration and Euclidean algorithm.After that, we implemented DV-hop localization algorithm on our test-beds and evaluate and demonstrate the effectiveness of the localization system. Finally, we sum up this paper and the directions of research in this area are introduced.
引文
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[10] DARPA Program, http://dtsn.darpa.mil/ixo/programs.asp
[11] Center for Embedded Networked Sensing, http://www.cens.ucla.edu/
[12] http://robotics.eecs.berkeley.edu/～pister/SmartDust/
[13] Chris Savarese, Jan M. Rabaey, Jan Beutel. Locationing in Distributed Ad-Hoc wireless sensor network. In: Proceedings of IEEE International Conference on Acoustics, Speech, and Signal (ICASSP '01), Salt Lake, USA: IEEE Computer Society, 2001. 5, vol. 4: 2037-2040
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[19] 史龙,王福豹,段渭军,任丰原.无线传感器网络Range-Free自身定位机制与算法[J].计算机工程与应用。2004.23,127-130.
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[21] Simic SN, Sastry S, Distributed localization in wireless ad hoc networks [R]. Tech. report, UC Berkeley, 2002, Memorandum No. UCB/ERL M02/26.
[22] Dragos Nicolescu and Badri Nath. Ad-Hoc Positioning Systems (APS) [C]. In: Proceedings of 2001 IEEE Global Telecommunications Conference (IEEE GLOBECOM'01), San Antonio, TX, USA: IEEE Communications Society, 2001. 11, vol. 5: 2926-2931
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[26] Yi Shang, Wheeler Ruml, Ying Zhang, Markus PJ Fromherz. Localization from mere connectivity [C]. In: Proceedings of the fourth ACM international symposium on Mobile ad hoc networking & computing (MOBIHOC 2003), Annapolis, Maryland, USA: ACM Press, 2003. 6, 201-212
[27] Tian He, Chengdu Huang, Brian M Blurn, John A Stankovic, Tarek Abdelzaher. Range-Free Localization Schemes in Large Scale Sensor Networks [C]. In: Proceedings of the 9th annual international conference on Mobile computing and networking (MobiCom), San Diego, California, USA: ACM Press, 2003.9, 81～95
[28] Paramvir Bahl, Venkata N Padmanabhan. RADAR: An in-building RF-based user location and tracking system [C]. In: Proceedings of Infocom'2000, Tel Aviv, Israel: IEEE Computer and Communications Societies, 2000. 3, vol. 2: 775-584
[29] Radhika Nagpal, Howard Shrobe, Jonathan Bachrach. Organizing a Global Coordinate System from Local Information on an Ad Hoc Sensor Network [C]. In: Zhao Feng, Guibas Leonidas eds. Proceedings of the 2nd International Workshop on Information Processing in Sensor Networks (IPSN '03), Palo Alto, CA, USA: Sringer-Verlag Press, 2003. 4, 333-348
[30] Andreas Savvides, Chih-Chieh Han, Mani B Srivastava. Dynamic Fine-Grained Localization in Ad-Hoc Networks of Sensors [C]. In: Proceedings of Mobile Computing and Networking (MOBICOM'01), Rome, Italy: ACM Press, 2001. 7, 166-179
[31] Andreas avvides, Heemin Park, Mani B Srivastava The Bits and Flops of the N-Hop Multilateration Primitive for Node Localization Problems [C]. In: Proceedings of the First ACM International Workshop on Wireless Sensor Networks and Application(WSNA'02), Atlanta, Georgia, USA: ACM Press, 2002. 9, 112-121
[32] Dragos Niculescu. Badri Nath. Ad Hoe Positioning System (APS) using AoA [C]. In: Proceedings of The 22nd Annual Joint Conference of the IEEE Computer and Communications Societies (INFOCOM 2003), San Francisco, CA. USA: IEEE Computer and Communications Societies, 2003. 3, 1734-1743
[33] Seapahn Meguerdichian, Sasa Slijepcevic, Vahag Karayan, Miodrag Potkonjak. Localized Algorithms In Wireless Ad-Hoc Networks: Location Discovery And Sensor Exposure [C], In: Proceedings of the 2001 ACM International Symposium on Mobile Ad Hoe Networking & Computing, Long Beach, USA: ACM Press, 2001. 10, 106-116
[34] Xianli Li, Hongchi Shi, Yi Shang. A Map-growing Localization Algorithm for Ad-hoc Wireless Sensor Networks [C]. In: Proceedings of the Tenth International Conference on Parallel and Distributed Systems(ICPADS'04)
[35] Mihail L Sichitiu, Vaidyanathan Ramadurai. Localization of Wireless Sensor Networks with a Mobile Beacon [C]. In: IEEE International Conference on Mobile Ad-hoc and Sensor Systems, 2004, 174-183
[36] WOO Cheol Chung, Dong Sam Ha. An Accurate Ultra-Wideband (UWB) Ranging for Precision Asset Location [C]. Proceedings of the IEEE Conference on Ultra Wideband Systems and Technologies Reston(VA. USA), 2003. Piscataway(NJ, USA): IEEE, 2003. 389-393
[37] J. Y. Lee, R. A. Scholtz. Ranging in a dense multipath environment using an UWB radio link [J]. IEEE Journal on Selected Areas in Communications, vol. 20, no. 9. 2002. 1677-1683
[38] Damien B. Jourdan, John J. Deyst, Jr., Moe Z. Win. Monte Carlo Localization in Dense Multipath Environments Using UWB Ranging [C]. Proceedings of the IEEE International Conference on Ultra-Wideband (ICU 2005). Zurich, Switzerland, September 2005.
[39] K. Yu, I. Oppermann. Performance of UWB position estimation based on TOA measurements [J]. Proc. Joint UWBST & IWUWBS,(Kyoto, Japan), 2004.
[40] K. Yu, I. Oppermann. Uwb positioning for wireless embedded networks [C]. Proc. 1EEE RAWCON conference, USA, Atlanta, 2004.
[41] Jean-Philippe Montillet, Timo Braysy, Ian Oppermann.. Algorithm for nodes localization in wireless Ad-hoc networks based on cost function [C]. In: Proc. International Workshop on Wireless Ad-hoc Networks (IWWAN 2005), London, UK, May 23-26, 2005
[42] Kamin Whitehouse, Chris Karlof, Alec Woo, Fred Jiang, David Culler. The Effects of Ranging Noise on Multihop Localization: an Empirical Study [C]. The Fourth International Conference on Information Processing in Sensor Networks (IPSN '05). Los Angeles, California. April 25-27, 2005.
[43] Tufan C. Karalar, Shunzo Yama shita, Michael Sheets, Jan Rabaey. A Low Power Localization Architecture and System for Wireless Sensor Networks [C]. Signal Processing Systems, 2004. SIPS 2004. IEEE Workshop on 2004 Page(s): 89-94
[44] Jeffrey Hightower, Gaetano Boriello, Roy Want. SpotON: An indoor 3D Location Sensing Technology Based on RF Signal Strength. Technical Report UW CSE 00-02-02, University of Washington, Department of Computer Science and Engineering, Seattle, WA, USA 2000. 2
[45] Nissanka B. Priyantha, Anit Chakraborty, Hari Balakrishnan. The Cricket Location-Support System. In: Proceedings of 6th ACM International Conference on Mobile Computing and Networking (ACM MOBICOM), Boston, MA, USA: ACM Press, 2000. 8, 32-43
[46] 史龙.无线传感器网络自身定位算法研究[D].硕士论文.西北工业大学。2005.38-42.
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[2] Chee-Yee Chong and Srikanta P. Kumar. Sensor Networks: Evolution, Opportunities and Challenges. Proceeding of the IEEE, Aug. 2003, vol. 91, no. 8.
[3] D. Estrin, R. Govindan, J. Heidemann, and S. Kumar. Next century challenges: Scalable coordination in sensor networks. Proc. Int. Conf. Mobile Computing and Networking (MOBICOM). 1999. pp. 263-270.
[4] Ten emerging technologies that will change the world. Technology Review. Feb. 2003, vol. 106, no. 1, pp. 22-49, http://www.techreview.com/articles/emerging0203.asp
[5] ALERT. http://www.alertsystem.org.
[6] Bonnet P, Gehrke J, Seshadri P. Querying th physical world. IEEE Personal Communication, 2000. 10-15
[7] Noury N, Herve T, Rialle V, Virone G, Mercier E. Monitoring behavior in home using a smart fall sensor. In: Proceedings fo the IEEE-EMBS Special Topic Conference on Microtechnologies in Medicine and Biology. 2000. 607-610.
[8] Sensor Webs. http://sensorwebs.jpl.nasa.gov/.
[9] Shih E., cho S, Ickes N, Min R, Sinha A, Wang A. Physical layer driven protocol and algorithm design for energy-efficient wireless sensor networks. In: Proceedings of the ACM MobiCom 2001. Rome: ACM Press, 2001. 272-286.
[10] DARPA Program, http://dtsn.darpa.mil/ixo/programs.asp
[11] Center for Embedded Networked Sensing, http://www.cens.ucla.edu/
[12] http://robotics.eecs.berkeley.edu/～pister/SmartDust/
[13] Chris Savarese, Jan M. Rabaey, Jan Beutel. Locationing in Distributed Ad-Hoc wireless sensor network. In: Proceedings of IEEE International Conference on Acoustics, Speech, and Signal (ICASSP '01), Salt Lake, USA: IEEE Computer Society, 2001. 5, vol. 4: 2037-2040
[14] Srdjan Capkun, Maher Hamdi and Jean-pierre Hubaux. GPS-Free Positioning in Mobile Ad-Hoc Networks. In: Proceedings of the 34th Annual Hawaii International Conference on System Sciences, Maui, Hawaii, USA: IEEE Computer Society, 2001. 1, 3481-3490
[15] Lance Doherty, Laurent El Ghaoui and Kristofer S. J. Pister. Convex Position Estimation in Wireless Sensor Networks. In: Proceedings of Twentieth Annual Joint Conference of the IEEE Computer and Communications Societies (INFOCOM 2001), Anchorage, AK, USA: IEEE Computer and Communications Societies, 2001. 4, vol. 3: 1655-1663
[16] Seapahn Meguerdichian, Farinaz Koushanfar, Miodrag Potkonjak, and Mani B. Srivastava. Coverage problems in wireless ad-hoc sensor networks. In: Proceedings of Twentieth Annual Joint Conference of the IEEE Computer and Communications Societies (INFOCOM 2001), Anchorage, Alaska, USA: IEEE Computer and Communications Societies, 2001. 4, vol. 3: 1380-1387
[17] Nirupama Bulusu, John Heidemann, and Deborah Estrin. Adaptive beacon placement. In: Proceedings of the 21st International Conference on Distributed Computing Systems, Phoenix, AZ, USA: IEEE Computer Society, 2001. 4, 489-498
[18] 王福豹,史龙,任丰原.无线传感器网络中的自身定位系统和算法[J].软件学报,2005.5,Vol.16,857-868.
[19] 史龙,王福豹,段渭军,任丰原.无线传感器网络Range-Free自身定位机制与算法[J].计算机工程与应用。2004.23,127-130.
[20] Nirupama Bulusu, John Heidemann, Deborah Estrin. GPS-less Low Cost Outdoor Localization for Very Small Devices [J]. IEEE Personal Communications, 2000. 10, Vol. 7(5): 28-34
[21] Simic SN, Sastry S, Distributed localization in wireless ad hoc networks [R]. Tech. report, UC Berkeley, 2002, Memorandum No. UCB/ERL M02/26.
[22] Dragos Nicolescu and Badri Nath. Ad-Hoc Positioning Systems (APS) [C]. In: Proceedings of 2001 IEEE Global Telecommunications Conference (IEEE GLOBECOM'01), San Antonio, TX, USA: IEEE Communications Society, 2001. 11, vol. 5: 2926-2931
[23] Dragos Niculescu, Badri Nath. DV based positioning in ad hoc networks [J]. Journal of Telecommunication Systems, 2003. 1-4, Vol. 22 (No. 1/4), 267-280
[24] Gene H Golub, Charles F Van Loan. Matrix Computations[M]. 3rd Edition, The Johns Hopkins University Press, 1996.
[25] Savarese C, Rabay J, Langendoen K. Robust Positioning Algorithms for Distributed Ad-Hoc Wireless Sensor Networks [C]. In: Carla Schlatter Ellis ed. Proceedings of the USENIX Technical Annual Conference, Monterey, CA, USA: USENIX Press, 2002. 6, 317-327
[26] Yi Shang, Wheeler Ruml, Ying Zhang, Markus PJ Fromherz. Localization from mere connectivity [C]. In: Proceedings of the fourth ACM international symposium on Mobile ad hoc networking & computing (MOBIHOC 2003), Annapolis, Maryland, USA: ACM Press, 2003. 6, 201-212
[27] Tian He, Chengdu Huang, Brian M Blurn, John A Stankovic, Tarek Abdelzaher. Range-Free Localization Schemes in Large Scale Sensor Networks [C]. In: Proceedings of the 9th annual international conference on Mobile computing and networking (MobiCom), San Diego, California, USA: ACM Press, 2003.9, 81～95
[28] Paramvir Bahl, Venkata N Padmanabhan. RADAR: An in-building RF-based user location and tracking system [C]. In: Proceedings of Infocom'2000, Tel Aviv, Israel: IEEE Computer and Communications Societies, 2000. 3, vol. 2: 775-584
[29] Radhika Nagpal, Howard Shrobe, Jonathan Bachrach. Organizing a Global Coordinate System from Local Information on an Ad Hoc Sensor Network [C]. In: Zhao Feng, Guibas Leonidas eds. Proceedings of the 2nd International Workshop on Information Processing in Sensor Networks (IPSN '03), Palo Alto, CA, USA: Sringer-Verlag Press, 2003. 4, 333-348
[30] Andreas Savvides, Chih-Chieh Han, Mani B Srivastava. Dynamic Fine-Grained Localization in Ad-Hoc Networks of Sensors [C]. In: Proceedings of Mobile Computing and Networking (MOBICOM'01), Rome, Italy: ACM Press, 2001. 7, 166-179
[31] Andreas avvides, Heemin Park, Mani B Srivastava The Bits and Flops of the N-Hop Multilateration Primitive for Node Localization Problems [C]. In: Proceedings of the First ACM International Workshop on Wireless Sensor Networks and Application(WSNA'02), Atlanta, Georgia, USA: ACM Press, 2002. 9, 112-121
[32] Dragos Niculescu. Badri Nath. Ad Hoe Positioning System (APS) using AoA [C]. In: Proceedings of The 22nd Annual Joint Conference of the IEEE Computer and Communications Societies (INFOCOM 2003), San Francisco, CA. USA: IEEE Computer and Communications Societies, 2003. 3, 1734-1743
[33] Seapahn Meguerdichian, Sasa Slijepcevic, Vahag Karayan, Miodrag Potkonjak. Localized Algorithms In Wireless Ad-Hoc Networks: Location Discovery And Sensor Exposure [C], In: Proceedings of the 2001 ACM International Symposium on Mobile Ad Hoe Networking & Computing, Long Beach, USA: ACM Press, 2001. 10, 106-116
[34] Xianli Li, Hongchi Shi, Yi Shang. A Map-growing Localization Algorithm for Ad-hoc Wireless Sensor Networks [C]. In: Proceedings of the Tenth International Conference on Parallel and Distributed Systems(ICPADS'04)
[35] Mihail L Sichitiu, Vaidyanathan Ramadurai. Localization of Wireless Sensor Networks with a Mobile Beacon [C]. In: IEEE International Conference on Mobile Ad-hoc and Sensor Systems, 2004, 174-183
[36] WOO Cheol Chung, Dong Sam Ha. An Accurate Ultra-Wideband (UWB) Ranging for Precision Asset Location [C]. Proceedings of the IEEE Conference on Ultra Wideband Systems and Technologies Reston(VA. USA), 2003. Piscataway(NJ, USA): IEEE, 2003. 389-393
[37] J. Y. Lee, R. A. Scholtz. Ranging in a dense multipath environment using an UWB radio link [J]. IEEE Journal on Selected Areas in Communications, vol. 20, no. 9. 2002. 1677-1683
[38] Damien B. Jourdan, John J. Deyst, Jr., Moe Z. Win. Monte Carlo Localization in Dense Multipath Environments Using UWB Ranging [C]. Proceedings of the IEEE International Conference on Ultra-Wideband (ICU 2005). Zurich, Switzerland, September 2005.
[39] K. Yu, I. Oppermann. Performance of UWB position estimation based on TOA measurements [J]. Proc. Joint UWBST & IWUWBS,(Kyoto, Japan), 2004.
[40] K. Yu, I. Oppermann. Uwb positioning for wireless embedded networks [C]. Proc. 1EEE RAWCON conference, USA, Atlanta, 2004.
[41] Jean-Philippe Montillet, Timo Braysy, Ian Oppermann.. Algorithm for nodes localization in wireless Ad-hoc networks based on cost function [C]. In: Proc. International Workshop on Wireless Ad-hoc Networks (IWWAN 2005), London, UK, May 23-26, 2005
[42] Kamin Whitehouse, Chris Karlof, Alec Woo, Fred Jiang, David Culler. The Effects of Ranging Noise on Multihop Localization: an Empirical Study [C]. The Fourth International Conference on Information Processing in Sensor Networks (IPSN '05). Los Angeles, California. April 25-27, 2005.
[43] Tufan C. Karalar, Shunzo Yama shita, Michael Sheets, Jan Rabaey. A Low Power Localization Architecture and System for Wireless Sensor Networks [C]. Signal Processing Systems, 2004. SIPS 2004. IEEE Workshop on 2004 Page(s): 89-94
[44] Jeffrey Hightower, Gaetano Boriello, Roy Want. SpotON: An indoor 3D Location Sensing Technology Based on RF Signal Strength. Technical Report UW CSE 00-02-02, University of Washington, Department of Computer Science and Engineering, Seattle, WA, USA 2000. 2
[45] Nissanka B. Priyantha, Anit Chakraborty, Hari Balakrishnan. The Cricket Location-Support System. In: Proceedings of 6th ACM International Conference on Mobile Computing and Networking (ACM MOBICOM), Boston, MA, USA: ACM Press, 2000. 8, 32-43
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