HEALoc A Robust Localization Algorithm for

HEALoc A Robust Localization Algorithm for - HEA-Loc: A...

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Unformatted text preview: HEA-Loc: A Robust Localization Algorithm for Sensor Networks of Diversified Topologies Yuanyuan Hong, King-Shan Lui and Yik-Chung Wu Department of Electrical and Electronic Engineering The University of Hong Kong, Hong Kong Email: { yyhong, kslui, ycwu } @eee.hku.hk Abstract In recent years, localization in a variety of Wireless Sensor Networks (WSNs) is a compelling but elusive goal. Several algorithms that use different methodologies have been proposed to achieve this goal. The performances of these algorithms depend on several factors, such as the sensor node placement, anchor deployment or network topology. In this paper, we propose a robust localization algorithm called Hybrid Efficient and Accurate Localization (HEA-Loc). HEA-Loc combines two techniques, Extended Kalman Filter (EKF) and Proximity-Distance Map (PDM) to improve localization accuracy. It is distributed in nature and works well in various scenarios as it is less susceptible to anchors deployment and the network topology. Furthermore, HEA-Loc has strong robustness and it can work well even the measurement errors are large. Simulation results show that HEA-Loc outperforms existing algorithms in both computational complexity and communication overhead. I. INTRODUCTION The main goal of Wireless Sensor Networks (WSNs) is to monitor an area of interest, but several prerequisites have to be achieved in order to reach the objective. Localization, the problem of finding the locations of the sensors, is one of these prerequisites. It has attracted significant research effort in recent years [1][6]. Despite many techniques have been developed, there is still no clear consensus on a particular mechanism that would be suitable in a wide range of topolo- gies. One of the reasons is that the placement of sensor nodes has dramatic impact on the effectiveness and efficiency of localization [7]. Most algorithms require the uniform place- ment of sensor nodes to achieve a high accuracy, but it may not be feasible for some networks. Also, the number and locations of anchors can have great influence on the network performance. Distributed algorithms, such as APS [1] and PDM [3] usually require large number of uniformly distributed anchors to achieve a high accuracy. Centralized algorithms, like Semidefinite Programming (SDP) [8], MDS-MAP [2] and Isomap [6] can perform well based on small number of anchors, for example, three anchors for 2D space and four anchors for 3D space, but they may not work well when the anchors are not uniformly distributed. Another disadvantage of centralized mechanisms is the huge computational complexity, which far exceeds the limit of a small sensor. In this paper, we propose a hybrid localization algorithm called Hybrid Efficient and Accurate Localization (HEA-Loc), which improves localization accuracy and efficiency with low cost in various kinds of networks. Simulation results show that it can perform well with limited and clustered anchors in both isotropic networks and anisotropic networks, like C-...
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This note was uploaded on 10/01/2010 for the course ELEC 6111 taught by Professor Brown during the Spring '10 term at E. Illinois.

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HEALoc A Robust Localization Algorithm for - HEA-Loc: A...

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