Research On TDOA-based Localization Problem Using WSN

Wireless sensor network (WSN) consists of a large number of tinysensor nodes,endowed with physical sensing capabilities, limited processing ability, memory, andshort-range radio communication. The emergence of WSN brings out a new form ofinformation collecting and processing. Mobile Robot which is equipped with mobilecarrier is a special robot system, it could move in the environment and execute giventask. The combination of WSNand mobile robot could maximize their advantage andacquirespecialcapability.Node location is a fundamental issue of WSN. The accurate location of mobilerobot equipped with node of WSN is concerned while executingnavigation of mobilerobot with the aid of WSN. Considering the character WSN, improved localizationalgorithms based on TDOA are proposed respectively for the stillness and movingscene of robot node. A location updating strategy for motive node is properlydesignedforthepurposeofsavingenergyforWSN.TDOA is a common ranging technique which has high accuracy and has beenused in the situation with high precise demand. Due to the random deployment of theWSN nodes, the anchor node is sparse in some location, and the localization error ishigh. For this problem, a DPE-AML localization algorithm is proposed based onTDOA ranging, it constructs an"anchor structure"which contains three anchor nodesfor localization. The simulation result indicates that the algorithm tends to highaccuracy with low energy consume, the correctness of localization is proper in thedesignofWSN.The accurate location of moving robot node is of important. However, sparselocal anchor nodes might affect precise localization of mobile node. After analyzingthe rigid graph theory, a LCB-TDOA localizable collaborative algorithm is proposedwhich achieve accurate localization of mobile robot node with sparse local anchornodes. For the purpose of minimizing the overhead energy consume while locatingthe mobile robot node, we devise an adaptive localization time interval scheme basedon the localization accuracy of anchor node which ensures the robot node oflocalizationaccuracy.What's more, we devise related simulation experiments based on OMNeT++ totestlocalizationalgorithmsandschemesadvancedinthispaper.