Robust Distributed Network Localization with Noisy Range Measurements

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Robust Distributed Network Localization with Noisy Range Measurements (2004)

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by David Moore , John Leonard , Daniela Rus , Seth Teller

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402 - 20 self

BibTeX

@MISC{Moore04robustdistributed,
    author = {David Moore and John Leonard and Daniela Rus and Seth Teller},
    title = {Robust Distributed Network Localization with Noisy Range Measurements},
    year = {2004}
}

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Abstract

This paper describes a distributed, linear-time algorithm for localizing sensor network nodes in the presence of range measurement noise and demonstrates the algorithm on a physical network. We introduce the probabilistic notion of robust quadrilaterals as a way to avoid flip ambiguities that otherwise corrupt localization computations. We formulate the localization problem as a two-dimensional graph realization problem: given a planar graph with approximately known edge lengths, recover the Euclidean position of each vertex up to a global rotation and translation. This formulation is applicable to the localization of sensor networks in which each node can estimate the distance to each of its neighbors, but no absolute position reference such as GPS or fixed anchor nodes is available. We implemented the algorithm on a physical sensor network and empirically assessed its accuracy and performance. Also, in simulation, we demonstrate that the algorithm scales to large networks and handles real-world deployment geometries. Finally, we show how the algorithm supports localization of mobile nodes.

Keyphrases

robust distributed network localization noisy range measurement large network planar graph range measurement noise corrupt localization computation sensor network sensor network node real-world deployment geometry linear-time algorithm euclidean position edge length mobile node anchor node global rotation robust quadrilateral probabilistic notion absolute position reference physical network physical sensor network localization problem flip ambiguity two-dimensional graph realization problem

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