Beacon node placement, node-to-node measurement, and target node positioning are the three key steps for a localization process. However, compared with the other two steps, beacon node placement still lacks a comprehensive, systematic study in research literatures. To fill this gap, we address the Beacon Node Placment (BNP) problem that deploys beacon nodes for minimal localization error in this paper. BNP is difficult in that the localization error is determined by a complicated combination of factors, i.e., the localization error differing greatly under a different environment, with a different algorithm applied, or with a different type of beacon node used. In view of the hardness of BNP, we propose an approximate function to reduce time cost in localization error calculation, and also prove its time complexity and error bound. By approximation, a sub-optimal distribution of beacon nodes could be found within acceptable time cost for placement. In the experiment, we test our method and compare it with other node placement methods under various settings and environments. The experimental results show feasibility and effectiveness of our method in practice.
Besides, localization algorithms also have inexplicit requirement for the coverage and distribution of beacon nodes. A considerable part of localization algorithms, such as Fingerprinting-based @cite_5 @cite_0 @cite_18 and Proximity-based @cite_11 @cite_9 , require that beacon nodes should be placed to at least achieve 1-coverage in the interest area, and prefer evenly scattered node placement . Some other algorithms such as Trilateration-based @cite_6 @cite_12 require 3 or more coverage for solvability, and consider the distribution of beacon nodes with minimal GDoP integral value. Also, there exists algorithms such as MDS @cite_24 @cite_10 , SDP @cite_2 and Hop-based @cite_20 @cite_22 @cite_1 can work with few or even no beacon node (0-coverage), and the optimal beacon node distribution of these algorithms mainly depend on localization environment.
@cite_18 @cite_22 @cite_9 @cite_1 @cite_6 @cite_0 @cite_24 @cite_2 @cite_5 @cite_20 @cite_10 @cite_12 @cite_11
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Indoor localization is of great importance for a range of pervasive applications, attracting many research efforts in the past decades. Most radio-based solutions require a process of site survey, in which radio signatures of an interested area are annotated with their real recorded locations. Site survey involves intensive costs on manpower and time, limiting the applicable buildings of wireless localization worldwide. In this study, we investigate novel sensors integrated in modern mobile phones and leverage user motions to construct the radio map of a floor plan, which is previously obtained only by site survey. On this basis, we design LiFS, an indoor localization system based on off-the-shelf WiFi infrastructure and mobile phones. LiFS is deployed in an office building covering over 1600m2, and its deployment is easy and rapid since little human intervention is needed. In LiFS, the calibration of fingerprints is crowdsourced and automatic. Experiment results show that LiFS achieves comparable location accuracy to previous approaches even without site survey. In this paper, we consider the issue of localization in anisotropic sensor networks. Anisotropic networks are differentiated from isotropic networks in that they possess properties that vary according to the direction of measurement. Anisotropic characteristics result from various factors such as the geographic shape of the region (non-convex region), the different node densities, the irregular radio patterns, and the anisotropic terrain conditions. In order to characterize anisotropic features, we devise a linear mapping method that transforms proximity measurements between sensor nodes into a geographic distance embedding space by using the truncated singular value decomposition-based (TSVD-based) pseudo-inverse technique. This transformation retains as much topological information as possible and reduces the effect of measurement noises on the estimates of geographic distances. We show via simulation that the proposed localization method outperforms DV-hop, DV-distance (D. Niculescu, 2001), and MDS-map (Y. , 2003), and makes robust and accurate estimates of sensor locations in both isotropic and anisotropic sensor networks. Wireless Sensor Networks have been proposed for a multitude of location-dependent applications. For such systems, the cost and limitations of the hardware on sensing nodes prevent the use of range-based localization schemes that depend on absolute point-to-point distance estimates. Because coarse accuracy is sufficient for most sensor network applications, solutions in range-free localization are being pursued as a cost-effective alternative to more expensive range-based approaches. In this paper, we present APIT, a novel localization algorithm that is range-free. We show that our APIT scheme performs best when an irregular radio pattern and random node placement are considered, and low communication overhead is desired. We compare our work via extensive simulation, with three state-of-the-art range-free localization schemes to identify the preferable system configurations of each. In addition, we study the effect of location error on routing and tracking performance. We show that routing performance and tracking accuracy are not significantly affected by localization error when the error is less than 0.4 times the communication radio radius. Many ad hoc network protocols and applications assume the knowledge of geographic location of nodes. The absolute position of each networked node is an assumed fact by most sensor networks which can then present the sensed information on a geographical map. Finding position without the aid of GPS in each node of an ad hoc network is important in cases where GPS is either not accessible, or not practical to use due to power, form factor or line of sight conditions. Position would also enable routing in sufficiently isotropic large networks, without the use of large routing tables. We are proposing APS --- a localized, distributed, hop by hop positioning algorithm, that works as an extension of both distance vector routing and GPS positioning in order to provide approximate position for all nodes in a network where only a limited fraction of nodes have self positioning capability. Many ad hoc network protocols and applications assume the knowledge of geographic location of nodes. The absolute location of each networked node is an assumed fact by most sensor networks which can then present the sensed information on a geographical map. Finding location without the aid of GPS in each node of an ad hoc network is important in cases where GPS is either not accessible, or not practical to use due to power, form factor or line of sight conditions. Location would also enable routing in sufficiently isotropic large networks, without the use of large routing tables. We are proposing APS - a distributed, hop by hop positioning algorithm, that works as an extension of both distance vector routing and GPS positioning in order to provide approximate location for all nodes in a network where only a limited fraction of nodes have self location capability. Growing convergence among mobile computing devices and embedded technology sparks the development and deployment of "context-aware" applications, where location is the most essential context. We present LANDMARC, a location sensing prototype system that uses Radio Frequency Identification (RFID) technology for locating objects inside buildings. The major advantage of LANDMARC is that it improves the overall accuracy of locating objects by utilizing the concept of reference tags. Based on experimental analysis, we demonstrate that active RFID is a viable and cost-effective candidate for indoor location sensing. Although RFID is not designed for indoor location sensing, we point out three major features that should be added to make RFID technologies competitive in this new and growing market. It is often useful to know the geographic positions of nodes in a communications network, but adding GPS receivers or other sophisticated sensors to every node can be expensive. We present an algorithm that uses connectivity information who is within communications range of whom to derive the locations of the nodes in the network. The method can take advantage of additional information, such as estimated distances between neighbors or known positions for certain anchor nodes, if it is available. The algorithm is based on multidimensional scaling, a data analysis technique that takes O(n3) time for a network of n nodes. Through simulation studies, we demonstrate that the algorithm is more robust to measurement error than previous proposals, especially when nodes are positioned relatively uniformly throughout the plane. Furthermore, it can achieve comparable results using many fewer anchor nodes than previous methods, and even yields relative coordinates when no anchor nodes are available. A method for estimating unknown node positions in a sensor network based exclusively on connectivity-induced constraints is described. Known peer-to-peer communication in the network is modeled as a set of geometric constraints on the node positions. The global solution of a feasibility problem for these constraints yields estimates for the unknown positions of the nodes in the network. Providing that the constraints are tight enough, simulation illustrates that this estimate becomes close to the actual node positions. Additionally, a method for placing rectangular bounds around the possible positions for all unknown nodes in the network is given. The area of the bounding rectangles decreases as additional or tighter constraints are included in the problem. Specific models are suggested and simulated for isotropic and directional communication, representative of broadcast-based and optical transmission respectively, though the methods presented are not limited to these simple cases. The proliferation of mobile computing devices and local-area wireless networks has fostered a growing interest in location-aware systems and services. In this paper we present RADAR, a radio-frequency (RF)-based system for locating and tracking users inside buildings. RADAR operates by recording and processing signal strength information at multiple base stations positioned to provide overlapping coverage in the area of interest. It combines empirical measurements with signal propagation modeling to determine user location and thereby enable location-aware services and applications. We present experimental results that demonstrate the ability of RADAR to estimate user location with a high degree of accuracy. Sensor positioning is a crucial part of many location-dependent applications that utilize wireless sensor networks (WSNs). Current localization approaches can be divided into two groups: range-based and range-free. Due to the high costs and critical as-sumptions, the range-based schemes are often impractical for WSNs. The existing range-free schemes, on the other hand, suffer from poor accuracy and low scalability. Without the help of a large number of uniformly deployed seed nodes, those schemes fail in anisotropic WSNs with possible holes. To address this issue, we propose the Rendered Path (REP) protocol. To the best of our knowledge, REP is the only range-free protocol for locating sen-sors with constant number of seeds in anisotropic sensor net-works. It is often useful to know the geographic positions of nodes in a communications network, but adding GPS receivers or other sophisticated sensors to every node can be expensive. MDS-MAP is a recent localization method based on multidimensional scaling (MDS). It uses connectivity information - who is within communications range of whom - to derive the locations of the nodes in the network, and can take advantage of additional data, such as estimated distances between neighbors or known positions for certain anchor nodes, if they are available. However, MDS-MAP is an inherently centralized algorithm and is therefore of limited utility in many applications. In this paper, we present a new variant of the MDS-MAP method, which we call MDS-MAP(P) standing for MDS-MAP using patches of relative maps, that can be executed in a distributed fashion. Using extensive simulations, we show that the new algorithm not only preserves the good performance of the original method on relatively uniform layouts, but also performs much better than the original on irregularly-shaped networks. The main idea is to build a local map at each node of the immediate vicinity and then merge these maps together to form a global map. This approach works much better for topologies in which the shortest path distance between two nodes does not correspond well to their Euclidean distance. We also discuss an optional refinement step that improves solution quality even further at the expense of additional computation. APS algorithms use the basic idea of distance vector routing to find positions in an ad hoc network using only a fraction of landmarks, for example GPS enabled nodes. All the nodes in the network are assumed to have the possibility of measuring: range, angle of arrival (AOA), orientation, or a combination of them. We give a lower bound for positioning error in a multihop network for a range angle free algorithm, and examine the error characteristic of four classes of multihop APS algorithms under various condition, using theoretical analysis and simulations. Analysis of range angle free, range based, angle based, and multimodal algorithms show a complex tradeoff between the capabilities used, the density of the network, ratio of landmarks, and the quality of the position obtained. Existing localization approaches are divided into two groups: range-based and range-free. The range-free schemes often suffer from poor accuracy and low scalability, while the range-based localization approaches heavily depend on extra hardware capabilities or rely on the absolute RSSI (received signal strength indicator) values, far from practical. In this work, we propose a mobile-assisted localization scheme called perpendicular intersection (PI), setting a dedicate tradeoff between range-free and range-based approaches. Instead of directly mapping RSSI values into physical distances, by contrasting RSSI values from the mobile beacon to a sensor node, PI utilizes the geometric relationship of perpendicular intersection to compute node positions. We have implemented the prototype of PI with 100 TelosBmotes. Through comprehensive experiments, we show that PI achieves high accuracy and low overhead, significantly outperforming the existing range-based and the mobile-assisted localization schemes.