| Abstract: |
Evolving networks of ad-hoc, wireless sensing nodes rely heavily on the ability to establish position information. The algorithms presented herein rely on range measurements between pairs of
nodes and the a priori coordinates of sparsely located anchor nodes. Clusters of nodes surrounding anchor nodes cooperatively establish confident position estimates through assumptions, checks,
and iterative refinements. Once established, these positions are propagated to more distant nodes, allowing the entire network to create an accurate map of itself. Major obstacles include
overcoming inaccuracies in range measurements as great as ±50%, as well as the development of initial guesses for node locations in clusters with few or no anchor nodes. Solutions to these
problems are presented and discussed, using position error as the primary metric. Algorithms are compared according to position error, scalability, and communication and computational
requirements. Early simulations yield average position errors of 5% in the presence of both range and initial position inaccuracies. |
