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研究生： 吳燿宏
Yao-hung Wu
論文名稱： 以移動信標為基礎的無線感測網路定位之研究
The Study of Localization Based on Mobile Beacon for Wireless Sensor Networks
指導教授： 陳維美
Wei-Mei Chen
口試委員: 謝孫源
Sun-Yuan Hsieh
張貴雲
Guey-Yun Chang
陳省隆
Hsing-Lung Chen
阮聖彰
Shanq-Jang Ruan
呂政修
Jenq-Shiou Leu
學位類別： 博士
Doctor
系所名稱： 電資學院 - 電子工程系
Department of Electronic and Computer Engineering
論文出版年： 2014
畢業學年度： 102
語文別： 英文
論文頁數： 112
中文關鍵詞： 無線感測網路 、定位 、移動信標 、指向性天線
外文關鍵詞： mobile beacon, directional antenna, RSSI, Apollonius
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    • 無線感測網路(Wireless Sensor Networks)技術在現今已廣泛被運用在許多的實際的應用上，例如環境生態的監測、軍事安全的提升、醫療體系的偵測等。而其中定位(Localization)的技術，感測器的位置資訊對於在涵蓋範圍、偵查、繞送和追蹤等問題上，都需要依據可靠的定位資訊來協助，所以定位就變得相當的重要。目前無線感測網路定位演算法，大致分為range-based和range-free兩種定位方法。Range-based定位方法是一種藉由發射的信號強度或角度的資訊來求得距離和估算位置的方法，但由於需要一些特殊的設備以求得精確的資訊，使得對硬體的需求度較高，也使得花費也較大。第二類為一種成本花費較小的range-free定位方法，不需要利用昂貴和準確的設備獲得資訊就能估算出位置。利用一些參考錨點、信標，經由一些數學的運算，有時在不需要獲得距離和角度的資訊的情況下依然能得到精確定位的結果。
    本篇論文提出了三種定位方法，結合了range-based與range-free定位方法的優點，不需昂貴硬體來量測距離，經由分散式處理計算，每個節點藉由接收裝備有全球定位系統(GPS)移動信標廣播的訊息，就可各自估算出本身的位置。第一種ROA演算法，經由配置有指向性天線的移動信標，透過接收區域的交集而計算出位置。另二種RGL與RLA演算法，是藉由接收到移動信標所發射的信號強度(RSSI)，分別再經由數學幾何與Apollonius特性的運算而計算出位置節點的位置。模擬結果表示，論文方法能夠有效提升感測器定位效率與精準度，並能夠勝過傳統的一些定位的演算法。

    Wireless sensor networks (WSNs) have wide application in fields such as environmental observation, military monitoring, and disaster relief. Localization is one of the fundamental issues in wireless sensor networks. Many approaches including range-based and range-free categories have been proposed to determine sensor node locations. The range-based often achieves higher accuracy but an additional hardware is required. On the other hand, range-free schemes avoid costly hardware by exploiting inter-node communication and the sensing range of the node to estimate the positions of the sensor nodes.
    In the study of our paper, we propose a range-free localization scheme named ROA and two RSSI-based schemes named RGL and RLA. All of the three schemes compute the sensor node positions by receiving the broadcasting information from a mobile beacon based on a self-propelled device equipped with a global positioning system (GPS). ROA scheme estimates positions by rotating a directional antenna to narrow down the possible region for a sensor node. RGL scheme performs a simple geometric calculation that relies on the approximate RSSI between sensor nodes with mobile beacon. RLA scheme based on an Apollonius’s circle do not adopt the distance related receiving RSSI values and then just calculate the ratio of transmitting signal power from comparative sensor nodes to localize completely. Simulation results show that our proposed schemes are very efficient and that the sensor node positions can be determined accurately. Besides, our proposed scheme still outperforms previous well known localization schemes for WSNs.

    以移動信標為基礎的無線感測網路定位之研究 III 論 文 摘 要 III ABSTRACT IV 誌 謝 V TABLE OF CONTENTS VI LIST OF FIGURES IX LIST OF TABLES 11 Chapter 1 Introduction 12 Chapter 2 Related Work 16 2.1 The Range-Based Scheme 16 2.1.1 Time of Arrival (ToA) 17 2.1.2 Time Difference of Arrival (TDoA) 18 2.1.3 Angle of Arrival (AoA) 19 2.1.4 Received Signal Strength Indicator (RSSI) 20 2.2 The Range-Free Scheme 21 2.2.1 Centroid Scheme 21 2.2.2 DV-Hop Scheme 22 2.2.3 APIT Scheme 23 2.2.4 Bounding Box Scheme 24 2.3 Mobile Beacon Scheme 25 2.3.1 Perpendicular Bisector Scheme 25 2.3.2 Geometric Constraints Scheme 26 2.3.3 Xiao’s Overlapping Scheme 27 2.3.4 Monte Carlo Scheme 28 2.4 RSSI-based Scheme 29 2.4.1 Trilateration Scheme 30 2.4.2 Multilateration Scheme 31 2.4.3 Perpendicular Intersection (PI) Scheme 32 Chapter 3 Rectangle Overlapping Approach (ROA) 33 3.1 Overview 33 3.2 The Model of the ROA Scheme 33 3.2.1 Description 33 3.2.2 Arrival and Departure of a Mobile Beacon 36 3.2.3 The Description of the ROA Scheme 37 3.2.4 Movement Pattern of a Mobile Beacon 41 3.2.5 The Analysis of Error 43 3.3 Performance Evaluations 45 3.3.1 Simulation Environment and Parameters 45 3.3.2 Metrics 46 3.3.3. Simulation Results 46 3.3.4 Scheme Evaluations 51 Chapter 4 RSSI-based Geometric Localization (RGL) 54 4.1 Overview 54 4.2 The Design of the RGL Scheme 54 4.2.1 Theoretical RSSI Model 54 4.2.2 Preliminaries of RGL Scheme 55 4.2.3 Mobile Anchor Path Planning 56 4.2.4 Processing of the RGL Scheme 57 4.2.5 Refinement and Obstacle Avoidance 62 4.2.6 Error Analysis 63 4.3 Performance Evaluation 64 4.3.1 Simulation Environment 64 4.3.2 Simulation Parameters 65 4.3.3 Metrics 66 4.3.4 Simulation Results 67 4.3.5 Scheme Evaluation and Comparison 70 Chapter 5 RSSI-based Localization Algorithm (RLA) 78 5.1 Overview 78 5.2 The Design of the RLA Scheme 78 5.2.1 Theoretical RSSI Model 79 5.2.1 Preliminaries 79 5.2.3 Arrival and Departure of a Mobile Beacon Preliminaries 81 5.2.4 The Processing of the RLA Scheme 81 5.2.5 Obstacle Avoidance 91 5.2.6 Threshold Refinement 93 5.2.7 Error Analysis 94 5.3 Performance Evaluation 97 5.3.1 Simulation Environment 97 5.3.2 Simulation Parameters 98 5.3.3 Metrics 98 5.3.4 Simulation Results 100 5.3.5 Scheme Evaluation and Comparison 102 Chapter 6 Summary and Future Work 110 6.1 Summary 110 6.2 Future Work 111 References 112 Publication List 119 Biography 120

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