Giovanni Zanca, Francesco Zorzi, Andrea Zanella and Michele Zorzi

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Presentation transcript:

Experimental comparison of RSSI-based localization algorithms for indoor wireless sensor networks* Giovanni Zanca, Francesco Zorzi, Andrea Zanella and Michele Zorzi Signet research Group Department of Information Engineering, University of Padova, Italy {zancagio,zorzifra,zanella,zorzi}@dei.unipd.it RealWSN08 Workshop ACM Eurosys 2008 April 1st 2008 Glasgow - UK *This work was partially supported by “Fondazione Cassa di Risparmio Padova e Rovigo” under the project ``A large scale wireless sensor network for pervasive city-wide ambient intelligence.”

RealWSN08 Workshop - Glasgow Outline Problem statement Possible approaches Wireless channel characterization SOA review Experimental setup Results Conclusions RealWSN08 Workshop - Glasgow April 1st 2008

RealWSN08 Workshop - Glasgow Problem Statement Position knowledge required by many WSN applications Two main approaches Nodes position hard written: High deployment cost/time Not always feasible Very accurate Motes capable of self-localizing: Easy deployment Need dedicated hardware to achieve high precision RealWSN08 Workshop - Glasgow April 1st 2008

Localization Approaches Three main ranging approaches: Angle of Arrival Time of Arrival Received Signal Strength Indicator (RSSI) Focus on RSSI: No specific Hardware required  Poor outdoor ranging performance  Very poor indoor ranging performance    RealWSN08 Workshop - Glasgow April 1st 2008

Indoor Radio Channel Characterization Highly affected by log-normal shadowing Moderate path loss RealWSN08 Workshop - Glasgow April 1st 2008

Channel Model Path loss channel model: received power Pi @ distance di real transmitter-receiver distance environmental constant Shadowing Received power Transmitted power Path loss coefficient reference distance fast fading RealWSN08 Workshop - Glasgow April 1st 2008

Localization Algorithms RSSI samples Anchor positions Range free approach Avoid ranging by direct comparison of RSSI samples Independent of channel parameters Imperfect localization even with ideal channel Range based approach Localization based on RSSI ranging Depend on channel parameters “Potential” perfect localization with ideal channel Localization Algorithm Mote position RealWSN08 Workshop - Glasgow April 1st 2008

Selected Localization Algorithms Range based: Min-Max Extremely simple Limited performance Multilateration Simple and scalable Highly affected by noisy samples Maximum Likelihood Complex Asymptotically optimum Range free: ROCRSSI Computationally demanding RealWSN08 Workshop - Glasgow April 1st 2008

Mote Platform: EyesIFX V2 MSP430 MCU 4 MHz 10 KB RAM 48 KB ROM USB interface Infineon TDA5250 transceiver 900 MHz narrowband FSK External omni-directional antenna RealWSN08 Workshop - Glasgow April 1st 2008

Experimental Testbeds h=1.64 sy=6.82 dB h=1.51 sy=6.34 dB RealWSN08 Workshop - Glasgow April 1st 2008

RealWSN08 Workshop - Glasgow Results – Mean Error Localization error remains quite high ML benefits from increasing the number of beacons, unlikely Min-Max, ROCRSSI, Multilateration Better performance in testbed 2 due to smaller distance to the closest beacon RealWSN08 Workshop - Glasgow April 1st 2008

RealWSN08 Workshop - Glasgow Results – Error CDF Min-Max performance does not improve by adding beacons Localization error is confined within a rather narrow range around 4 meters ML improves performance, though errors are distributed over a wide range RealWSN08 Workshop - Glasgow April 1st 2008

RealWSN08 Workshop - Glasgow Conclusions ML yields better performance than the others with more than 6-7 beacons Multilateration is much simpler but shows very low performance ROCRSSI also achieves low performance but it is independent of channel parameters Min-Max is extremely simple but tends to localize nodes in the center of the area RSSI ranging is very unreliable and does not appear suitable for indoor localization RealWSN08 Workshop - Glasgow April 1st 2008

Experimental comparison of RSSI-based localization algorithms for indoor wireless sensor networks* Giovanni Zanca, Francesco Zorzi, Andrea Zanella and Michele Zorzi Signet research Group Department of Information Engineering, University of Padova, Italy {zancagio,zorzifra,zanella,zorzi}@dei.unipd.it RealWSN08 Workshop ACM Eurosys 2008 April 1st 2008 Glasgow - UK *This work was partially supported by “Fondazione Cassa di Risparmio Padova e Rovigo” under the project ``A large scale wireless sensor network for pervasive city-wide ambient intelligence.”