Abstract
Accurate signal-source and signal-reflector target localization tasks via mobile sensory units and wireless sensor networks (WSNs), including those for environmental monitoring via sensory UAVs, require precise knowledge of specific signal propagation properties of the environment, which are permittivity and path loss coefficients for the electromagnetic signal case. Thus, accurate estimation of these coefficients has significant importance for the accuracy of location estimates. In this paper, we propose a geometric cooperative technique to instantaneously estimate such coefficients, with details provided for received signal strength (RSS) and time-of-flight (TOF)-based range sensors. The proposed technique is integrated to a recursive least squares (RLS)-based adaptive localization scheme and an adaptive motion control law, to construct adaptive target localization and adaptive target tracking algorithms, respectively, that are robust to uncertainties in aforementioned environmental signal propagation coefficients. The efficiency of the proposed adaptive localization and tracking techniques are both mathematically analysed and verified via simulation experiments.
Highlights
There has been significant research interest in the use of mobile sensory units and wireless sensor networks (WSNs) in various application areas, including environmental monitoring, especially in the last two decades
We propose a more direct and static calculation technique for estimating the environmental coefficients, the path loss coefficient (η) for received signal strength (RSS) and the signal permittivity coefficient (ε) for TOF, using a range sensor triplet during adaptive localization and tracking of a signal source by a mobile agent equipped with this sensor triplet
A set of UAV-based target localization and tracking simulation scenarios are provided to demonstrate the effectiveness of the integration of the adaptive localization and tracking schemes and the proposed coefficient estimation technique
Summary
There has been significant research interest in the use of mobile sensory units and wireless sensor networks (WSNs) in various application areas, including environmental monitoring, especially in the last two decades. Accurate signal-source and signal-reflector target localization via the aforementioned sensory units and WSNs requires precise knowledge of specific signal propagation properties of the environment. Such properties can be modelled by certain diffusion or propagation formulas, which involve some environmental coefficients, which are specific to the particular setting and which may be constant or time/space dependent. We propose a more direct and static calculation technique for estimating the environmental coefficients, the path loss coefficient (η) for RSS and the signal permittivity coefficient (ε) for TOF, using a range sensor triplet during adaptive localization and tracking of a signal source by a mobile agent equipped with this sensor triplet.
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