Abstract
Location information of nodes in an ad hoc sensor network is essential to many tasks such as routing, cooperative sensing, and service delivery. Distributed node self-localization is lightweight and requires little communication overhead, but often suffers from the adverse effects of error propagation. Unlike other localization papers which focus on designing elaborate localization algorithms, this paper takes a different perspective, focusing on the error propagation problem, addressing questions such as where localization error comes from and how it propagates from node to node. To prevent error from propagating and accumulating, we develop an error-control mechanism based on characterization of node uncertainties and discrimination between neighboring nodes. The error-control mechanism uses only local knowledge and is fully decentralized. Simulation results have shown that the active selection strategy significantly mitigates the effect of error propagation for both range and directional sensors. It greatly improves localization accuracy and robustness.
Highlights
In ad hoc networks, location information is critical to many tasks such as georouting, data centric storage, spatio-temporal information dissemination, and collaborative signal processing
The error control consists of three components: (1) error characterization to document node location with uncertainty; (2) a neighbor selection step to screen out unreliable neighbors— it is preferable to only use nodes with low uncertainty to localize others; this prevents error propagating to other nodes and contaminating the entire network; (3) an update criterion that rejects a location estimate if its uncertainty is too high; this cuts the link of error accumulation
Neighbor selection has been proposed in several papers such as [20, 21] to differentiate neighbors based on heuristics about the noise-amplifying effect of node geometry, or based on estimation bounds such as Cramer-Rao lower bound (CRLB)
Summary
Location information is critical to many tasks such as georouting, data centric storage, spatio-temporal information dissemination, and collaborative signal processing. The error control consists of three components: (1) error characterization to document node location with uncertainty; (2) a neighbor selection step to screen out unreliable neighbors— it is preferable to only use nodes with low uncertainty to localize others; this prevents error propagating to other nodes and contaminating the entire network; (3) an update criterion that rejects a location estimate if its uncertainty is too high; this cuts the link of error accumulation. This error-control mechanism is lightweight, and only uses local knowledge.
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