Cooperative localization in wireless ad hoc and sensor networks using hybrid distance and bearing (angle of arrival) measurements

Tolga Eren

doi:10.1186/1687-1499-2011-72

Abstract

This article provides the graphical properties which can ensure unique localizability in cooperative networks with hybrid distance and bearing (angle of arrival) measurements. Furthermore, within the networks satisfying these graphical properties, this article identifies further sets of conditions so that the associated computational complexity becomes linear in the number of sensor nodes. We show how, by forming a spanning tree used once for distances and a second time for bearings where the underlying graph is connected, the localization problem can be made solvable in linear time with significantly less number of sensing links and smaller sensing radii of nodes compared with the cooperative networks with distance-only or bearing-only measurements. These easily localizable networks can be localized in polynomial time when measurements are noisy.

Highlights

In this article, we deal with resolving the graphical conditions of cooperative localization in networks that use hybrid distance and bearing (a.k.a. angle of arrival, AOA) measurements
By forming a spanning tree used once for distances and a second time for bearings where the underlying graph G is connected, the localization problem can be made solvable in linear time with significantly less number of sensing links and smaller sensing radii of nodes compared to the networks with distance-only or bearingonly measurements
We summarize the graphical conditions of the networks with distance-only measurements, bearing-only measurements, and hybrid distance-bearing measurements for comparison as follows:

Summary

Introduction

We deal with resolving the graphical conditions of cooperative localization in networks that use hybrid distance and bearing (a.k.a. angle of arrival, AOA) measurements. The cooperative network localization problem is determining the Euclidean positions of all nodes (ordinary nodes) in a network given the knowledge of the Euclidean positions of some reference nodes (anchors), and the knowledge of a number of internode measurements. In such a setting, localization can be obtained through the cooperation of all nodes, using the measurements from anchors and the measurements among pairs of ordinary nodes. For background papers dealing with various aspects of measurements and cooperative localization in sensor networks, see e.g., [1,2,3,4]

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