Abstract
This paper evaluates the performance of a semidistributed multinode time-of-arrival (TOA) and direction-of-arrival (DOA) fusion localization technique in terms of localization circular error probability (CEP). The localization technique is applicable in mobile ad hoc networks (MANETs) when global positioning system (GPS) is not available (GPS denied environments). The localization CEP of the technique is derived theoretically and verified via simulations. In addition, we theoretically derive the localization CEP of GPS-aided TOA fusion and GPS-aided DOA fusion techniques, which are also applicable in MANETs. Finally, we compare these three localization techniques theoretically and via simulations. The comparison confirms that in moderate scale MANETs, the multinode TOA-DOA fusion localization technique achieves the best performance; while in large scale MANETs, GPS-aided TOA fusion leads to the best performance.
Highlights
Node localization is required in ad hoc networks to support resource allocation [1], routing [2, 3], situation awareness [4, 5], and so forth
We assume the mobile ad hoc networks (MANETs) that apply semidistributed multinode TOA-DOA fusion localization are composed of two categories nodes: (i) base-nodes equipped with antenna arrays that are capable of estimating the TOA and DOA of target-nodes or other base-nodes; and, (ii) target-nodes equipped with omnidirectional antennas that respond to the inquiring signal transmitted by base-nodes
These figures show (1) all methods perform better as the number of base-nodes increases; (2) the performance of global positioning system (GPS)-aided TOA fusion is independent of MANET coverage radius, but the performance of other two techniques decreases as the MANET coverage radius increases; (3) the performance of the semidistributed multinode TOA-DOA fusion and GPS-aided DOA fusion decreases as the DOA estimation error increases; (4) as the ratio Z = σG2 /σR2 increases, the performance of GPS-aided TOA fusion and GPS-aided DOA fusion decreases, while the semidistributed multinode TOA-DOA fusion is not affected by GPS performance; (5) considering Rmax = 80σR, σθ = 1◦ or 2◦, and Z = σG2 /σR2 ≥ 0.5, semidistributed multinode TOA-DOA fusion performs the best and GPS-aided DOA fusion performs the worst
Summary
Node localization is required in ad hoc networks to support resource allocation [1], routing [2, 3], situation awareness [4, 5], and so forth. The centralized and semidistributed multinode TOADOA fusion localization techniques take the advantage of base-nodes’ property, capable of estimating other nodes position independently. In GPS-aided TOA (DOA) fusion scheme, GPS receivers are applied to estimate base-nodes’ position. In semidistributed multinode TOA-DOA fusion localization, TOA and DOA are estimated at base-nodes by processing signals transmitted by base-nodes or targetnodes. In the proposed semidistributed technique and GPSaided DOA fusion, major errors (a complete confusion) may occur if the LOS signal between the base-nodes and target-nodes is blocked. In this paper, we evaluate the performance of the semidistributed multinode TOA-DOA fusion localization technique in terms of localization CEP in the condition of all target-nodes being localized; we compare it to that of GPS-aided TOA (DOA) fusion.
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