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OBJECT TRACKING IN WIRELESS SENSOR NETWORKS Project Report

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OBJECT TRACKING IN WIRELESS SENSOR NETWORKS
Project Report

By

Aniket Anand Gurav

Master of Technology in Modelling and Simulation

Under the Supervision of

Manisha J Nene
Department of Applied Mathematics
DIAT (DU) Girinagar, Pune

1
 Approval Sheet

Thesis titled: OBJECT TRACKING IN WIRELESS SENSOR NETWORKS

By Aniket Anand Gurav

Is approved for the degree of Master of Technology ( Modelling and Simulation)

Examiners:

Supervisors:

Chairman:

Date:

Place:
2
 Certificate

This is to certify that Mr. Aniket Anand Gurav has completed successfully the course as required
for the Dissertation Course carried out by himself for partial fulfillment of the requirements for
the degree in Master of Technology in Modelling and Simulation during the autumn session
2013-2014.

Guide
Mrs. Manisha. J. Nene
Asst. Professor ,
Department of Applied Mathematics
and Computer Engineering
DIAT (DU), Pune-411025

Dr. Samir K Das

Head of Department,
Dept of Applied Mathematics
DIAT (DU)

3
 Declaration
This is to certify the dissertation report comprises of original work (except where indicated)
carried out by me and due acknowledgments have been made in the text to all other material
used. The dissertation does not any classified information related to national security and has not
been submitted in any form for another degree or diploma at any other institute/ university.

Aniket .A.Gurav
Reg. No. 11- 07- 03
Dept of Applied Mathematics
DIAT (DU),
Girinagar, Pune – 411025

Guide
Mrs. Manisha.J.Nene
Asst. Professor

Dr. Samir K Das

Head of Department,
Dept of Applied Mathematics
DIAT (DU),
Girinagar, Pune-411025
4
 Acknowledgements

I wish to express my gratitude to Assistant Professor Mrs. Manisha.J.Nene, for accepting

to guide me in the course of my dissertation work on the topic OBJECT TRACKING IN
WIRELESS SENSOR NETWORKS. Her guidance was invaluable in directing this work.
I am extremely grateful to my parents, sisters whose support and encouragement are
constant reminders to pursue excellence.
I would also like to thank the Dr.Samir K Das, Head of Department, Dept of Applied
Mathematics, DIAT(DU) and a complete staff of the Department of Applied Mathematics for
their continued support and providing requisite knowledge on the subject. I am also indebted to
Dr Prahlada, Vice Chancellor, DIAT, for giving me an opportunity for my intellectual pursuit

Aniket .A.Gurav
Dept of Applied Mathematics
DIAT (DU),
Girinagar, Pune – 411025

5
 Index

Abstract 8

List of abbreviations 9
List of Figures 9

Chapter 1 Introduction 11

1.1 Overview 11
1.2 Components of Wireless Sensor Networks 12

Chapter 2 Deployment, Localization of nodes in WSN 13

2.1 Global Positioning System (GPS) 13

2.2 Finding distance between nodes 13
2.3 Hyperbolic Trilateration 15
2.4 Triangulation 16
2.5 Sensor registration 16

Chapter 3 Ant Colony Optimization 18

3.1 Ants colonies can find shortest paths 18

3.2 The binary bridge experiment 18
3.3 The binary bridge experiment with branches 19
3.4 ACO algorithm 19
3.5 Parameter effecting ACO 20

Chapter 4 Identifying Optimal Path in WSN 22

4.1 Set up of WSN 22

4.2 Proposed ACO Algorithm 23
4.3 Comparison proposed algorithm with Traditional ACO 24
4.4 result 25
4.5 Conclusion 30

6
Chapter 5 Target Tracking in WSN 31

5.1 Introduction to tracking problem 31

5.2 Mathematical Basics 32
5.3 The Particle Filter Algorithm 35
5.4 PF Implementation & Simulation results 36
5.5 Conclusion 37

6 References 41

7
 Abstract

In recent years, Wireless Sensor Networks WSNs have been the source of increasing interest to
research community. WSN gathers information from multiple sources at the same time. Some
critical tasks performed by it are target tracking in military applications, habitat monitoring,
detection of catastrophic events, environment monitoring, and health applications etc. Data is
sent to a BS Base Station via a routing algorithm to be compiled and analyzed. At the BS data is
processed and track of the object is estimated using the Particle filter PF.
Proposed Bio inspired energy efficient Optimal Path Identification OPI algorithm which
find single/ multiple path between sensor node SN and BS. This is developed keeping in mind
SN stringent requirements . For the trajectory tracking of the object PF is implemented. It tracks
the trajectory of the target and estimate its location and velocity.

8
List of Abbreviations

Abbreviations
WSN Wireless Sensor Network
SN Sensor Node
BS Base Station
GPS Global Positioning System
AoA Angle of Arrival
TDoA Time difference of Arrival
ACO Ant Colony Optimization
ACS Ant Colony System
AS Ant System
TSP Travelling Salesman Problem
OP Optimal Path
OPI Optimal Path Identification
SP Shortest Path
PDF Probability Density Function
PF Particle Filter

List of figures
Figure 1 Organization of Thesis 11
Figure 1.1 A typical WSN 12
Figure 2.1 Planned Deployment of Sensor 13
Figure 2.2 Random Deployment of Sensor 13
Figure 2.3 Time Difference of Arrival (TDoA) illustrated 14
Figure 2.4 Hyperbolic Trilateration 15
Figure 2.5 Triangulation technique 15
Figure 3.1 Binary bridge experiment to study ACO 18
Figure 3.2 Experiment with a binary bridge whose branches have 19
different length
Figure 3.3 Flow chart for ACO 21
Figure 4.1 SN randomly deployed in field of interest 25
Figure 4.2 result 25
Figure 4.3 Wireless sensor nodes and its network 28
Figure. 4.4 OP using modified ACO 28
Figure. 4.5 Optimal Path using traditional ACO 28

9
Figure 4.6 WSN 29
Figure 4.7 WSN 29
Figure 5.1 A typical scenario of tracking 31
Figure 5.2 event reporting 32
Figure 5.3 Particle Filter 35
Figure 5.4 Particle Filter 37
Figure 5.5 Trajectory tracking (result1) 37
Figure 5.6 Velocity Estimation (result1) 38
Figure 5.7 Velocity Estimation (result1) 39
Figure 5.8 Velocity Estimation (result2) 39
Figure 5.9 Trajectory tracking (result2) 40
Figure 5.10 Velocity Estimation ( result2) 40

10
Chapter 1 Introduction
1.1 Overview
Wireless sensor networks (WSNs) have attracted significant research and commercial
interest recently. It is used increasingly to track targets/object in battlefields, wildlife or habitat
monitoring, and monitoring of hazardous chemicals while they are in transit. Tracking
moving targets with WSN is one of the prominent applications. Depending on the applications,
sensors with different sensing modalities such as acoustic, seismic, infrared, radio, and magnetic
can be deployed for tracking different type of targets.

1.2 Organization
Chapter 2 describes discuss localization and distance estimation techniques.
Chapter 3 discusses Ant Colony Optimization.
Chapter 4 Explain proposed algorithm for Optimalt Path Identification.
Flow chart given below shows the important phases of dissertation work.

Start

Deployment of SN, WSN network set up

( CHAPTER 2)

OPI using ACO at BS (CHAPTER 3, 4)

BS communicate SP to SN (CHAPTER 3,
4)

Trajectory estimation at BS using PF

(CHAPTER 5)

Stop

11
 Figure 1.1: Organization of Thesis

1.2 Components of Wireless Sensor Networks

WSN is a spatially distributed network. In WSN there are a few to several hundreds or even
thousands of Sensor Nodes SN. Each SN has typically several parts: a microcontroller, a radio
transceiver, an electronic circuit for interfacing with the SN and an energy source, usually ait is a
battery.

A typical WSN is shown in Figure 1.2 the two distinct elements that make up of most
WSN are: Base Station(s) BS, SN. They are deployed in the field of interest to monitor the
occurrence of event or existence of target object.

Figure 1.2: A typical WSN

SN senses the phenomenon in the field of interest. It can store that information if required. It also
communicate the sensed information with SN in communication radius. Each SN forward sensed
data to the BS for further processing.

For object tracking task, there can be single target, or multiple targets. It is challenging to
estimate and predict the path of the object while traveling through the deployed WSN accurately.

12
Chapter 2
Deployment & Localization of nodes in WSN
During object detection and tracking, deployment & location estimation is important. In
many practical scenarios SNs are deployed disciplined manner (figure 2.1) or randomly (figure
2.2). Without information about SN location, the origin of data received at the BS can not be
identified and it become meaningless in some applications. Due to the importance and utilization
of location information, numerous localization algorithms have been proposed for WSNs [1,2,3].
The large scale and difficulty of redeploying a WSN make planning and pre-evaluation of the
localization algorithms important.

Figure 2.1: Planned Deployment of Sensor Figure 2.2: Random Deployment of Sensor

The location of the sensor can be determined using technologies like GPS. It will require each
node to equip with special position sensors to know about its absolute position. Various
approaches which are used for location estimation are as follows.

2.1 Global Positioning System (GPS)

This helps in gaining knowledge of the position outdoors. GPS uses the signal from
various satellites orbiting around the earth to calculate the exact position of the receiver. But this
system is power consuming & it fails in indoor applications.

2.2 Finding distances between nodes

2.2.1 Radio Signal Strength

The important characteristic of radio signal is strength of signal is inversely proportional
to distance. In the ideal spherical propagation model, the signal strength is correlated to the
distance with the formula:

13
 With n >=2 (2.1)
= -10* (t) (2.1.1)

By using formulae in 2.1.1 we can calculate distances if all other factors are known where Pi(t)
is a constant due to the transmitted power from transmitter i and the antenna gains, ή is the
attenuation constant, dij is the distance between the two nodes, Xij(t) is the uncertainty factor due
to multi-path and shadowing t is time, pRij is received signal strength.
By using the measured signal strength we can calculate the distance from the sender. If
the distance from SN more than or equal to three location are known then we can calculate
position of the receiver by multilateration.

2.2.2 Time Difference of Arrival (TDoA)

A signal sent by radio travels much faster than the acoustic signal. This difference of
velocity can be used to estimate distance between two devices. Using TDoA as an estimate for
time of flight of the ultrasound signal, the receiver can estimate its distance to sender. If the
distance from more than or equal to 3 senders with known location are known then we can
calculate the position of the receiver by multilateration (Figure 2.3). In TDoA schemes, each
node is equipped with a speaker and a m i cro phone. Some system uses ultrasound while
others use audible frequencies. In TDoA, the transmitter first sends a radio message, however,
the general mathematical technique is independent of particular hardware. It waits some fixed
interval of time, tdelay (which might be zero), and then produces a fixed pattern of “chirps” on
its speaker. When listening nodes hear the radio signal, current time is noted, t r a d i o and then
turn on their microphones. When their microphones detect the chirp pattern, current time is
noted, t s o u n d . Once they have t r a d i o , t s o u n d , and tdelay the listeners can compute the distance d
between themselves and the transmitter using the fact that radio waves travel substantially faster
than sound in air.

Figure.2.3: Time Difference of Arrival (TDoA) illustrated.

SN A sends radio pulse and then an acoustic pulse. The time difference between arrivals of
two pulses is determined, by using this SN B can estimate its distance from A.

14
 (2.2)

TDoA methods are impressively accurate under line- of-sight condition; however they perform best
in areas that are free of echoes, and when the speakers and microphones are calibrated to
each other the downside of TDoA system is that they inevitably require special hardware to be
built into SN, specifically a speaker and a microphone. TDoA systems perform best when it is
calibrated properly, since microphones & speakers never have transmission and reception
characteristics. The speed of sound in air varies with air temperature and humidity which
introduces inaccuracy into equation 2.2.Finally, line-of-sight constraint can be difficult to meet
in the same environments.
In the end, many localization algorithms use time difference of arrival ranging simply
because it is dramatically more accurate than radio-only methods. The actual reason why TDoA
is more effective in practice than RSSI is due to the difference using signal travel time and signal
magnitude.

2.2.3 Angle of Arrival (AoA)

Some algorithms depend on Angle of Arrival (AoA) data. This data is typically gathered
using radio or microchip array, which allow listening node to determine the direction of a
transmitting node. It is also possible to gather AoA data from optical communication
methods. These methods can obtain accuracy within a few degrees. Angle of Arrival hardware is
sometime augmented with digital compasses. A digital compass simply indicates the global
orientation of its node, which can be quite useful in conjunction with AoA information. In
practice, few sensor localization algorithms absolutely require Angle of Arrival information.
In this technique location of the SN can be found by the intersection of pair of angle of
directional lines. For using this method in 2d , we must have 2 reference points we can measure
angle θ1 & θ2 to derive required location of the SN.

2.3 Hyperbolic Trilateration

Figure 2.4: Hyperbolic Trilateration Figure 2.5: Triangulation technique

The most basic and intuitive method is called hyperbolic trilateration. It locates a node by
calculating the intersection of 3 circles as shown in Fig. 2.4.This method determines the position
of a node from the intersection of 3 circles of 3 anchor nodes that are formed based on distance
measurements between its neighbors. The intersecting curves which we get into this method are
hyperbolic.The radius of the circle is equal to the distance measurement as shown in Figure 2.4.
The intersection point of these three circles gives the possible position. However, in a real
15
environment, the distance measurement is not perfect; hence, more than three nodes are required
for this method.

How this method works:

Let equation of the 1st circle is

(2.3)

Where a1,b1 is centre & r1 is radius. Similarly equation of 2nd and 3rd circle is

, (2.4 )
(2.5)

Where (a2,b2 ) is centre & r2 is radius of 2nd circle .( a3,b3 ) is centre & r3 is radius of 3rd circle.
Here all this centre are location of the SN locations and radius is distance that sensor has
measured. To find the intersection of these 3 circles , 1st solve 2.3 & 2.4 which will give
intersection of 1st And 2nd . Then same procedure is applicable for finding other remaining
intersection.

2.4 Triangulation
This method is used when the direction of the node is known in AoA systems. The SNs
positions are calculated using the trigonometry laws of sine and cosines (shown in Fig.2.5).
Initially by using distance estimation technique distances A, B, C are calculated. Then
trigonometry laws of sine and cosine angles are used.

2.5 Sensor registration

After localization of the SN is done SN registers itself to the BS. In the registration
process it forwards the packet of information to BS. Through this process BS get aware about the
SN presence in the WSN. Their ID, relative location, types etc

16
17
Chapter 3
Ant colony optimization
Ant Colony Optimization (ACO) is Bio inspired probabilistic technique for solving
computational problem which can be reduced to finding Optimal Paths OP through graphs.
This technique was suggested by Marco Dorigo in 1992 [5].

3.1 Ants colonies can find shortest paths

A lot of species of ants have a trail-laying/trail-following behavior. While moving,
individual ants deposit on the ground a volatile chemical substance called pheromone,
Pheromone trails are formed in this way. Ants can smell pheromone and, their path selection is
probable decision. The paths marked by stronger pheromone concentrations have more
probability of selection [6]. In this way ant create a sort of attractive potential field, with help
of this pheromone trails ants can find their way back to food sources (or to the nest). Other
ants use it to find the location of the food sources discovered by their nest mates.

3.2 The binary bridge experiment

Figure 3.1.shows the binary bridge experiment with two branches having the same
length.

Figure 3.1: Binary bridge experiment to study ACO

The nest of a colony of Argentine ants Linepithema homeland a food source has been separated
by a diamond-shaped double bridge in which each branch is having the same length. Ants can
then free to move between food source and the nest . The percentage of ants which choose one or
the other of the two branches is observed over time. In this experiment initially there is no
pheromone on the two branches, therefore ants select this branch with the same probability.
Nevertheless, after an initial phase, due to random fluctuations ants randomly select one branch,
the upper one in Figure 3.1 Since the ants deposit pheromone while walking back and forth, the
greater number of ants on the upper branch determines a greater amount of pheromone on it,
which causes more ants to choose it.

18
3.3 Two branches of varying length
If the branches of the bridges are of different length, then the pheromone field can lead
the majority of the ants in the colony to select the shortest between the two available paths, the
first ants able to arrive at the food source are those that traveled following the shortest branch
(see Figure 3.2). Accordingly, the pheromone that these same ants have laid on the shortest
branch while moving forward towards the food source makes this branch marked by more
pheromone than the longest one. The higher levels of pheromone present on the shortest branch
stimulate these same ants to probabilistically choose again the shortest branch when moving
backward to their nest. In this way, pheromone is laid on the shortest branch at a higher rate than
on the longest branch. The experimental observation is that, after a transitory phase, most of the
ants use the path with the shortest branch. It is also observed that the colony’s probability of
selecting the shortest path increases with the difference in length between the long and the short
branches.

Figure 3.2: Experiment with a binary bridge whose branches have different length. a) Ants start
exploring the bridge. (b) Eventually most of the ants choose the shortest path.

3.4 ACO algorithm

In the previous experiment, It is observed that when ants trace out a path from their nest
to a food source, the shorter a path is, the more likely ants are likely to follow it. This is because
shorter paths accumulate pheromone deposits at a faster rate. Pheromone evaporation also plays
an important role in the exploration process by preventing the accumulation of pheromones in
large amounts along just a few paths. Each ant starts from source s to destination d, trying to find
Shortest Path SP. At each node ant decides to visit the next node based upon the probability
given by


   
  ij  *  ij 
j  N j & j  M k


p k
ij    
    ij  *  ij  (3.1)

0 

 otherwise 

19
Where  ij is pheromone concentration on edge between node i and node j.  ij is the value of
heuristic related to energy, The relative importance of pheromone trail and heuristic value is
controlled by α and β.
The heuristic value of node j is
1
 ij = d (3.2)
 l (i, j )
s

Where l(i, j) is the edge length between nodes me and j. After each iteration t ants deposit
quantity of pheromone which is given by

 k (t )  .(1 / j k (t )) (3.3)

Where j k (t ) is the length of the path from source to destination traversed by ant k. Amount of
pheromone quantity on edge i to j is given by the equation

 ij (t )   ij (t )   ij (t ) (3.4)

But as the time passes the pheromone deposited on the edge start evaporating. A control
coefficient  [0,1] decides the amount of pheromone on each edge at any specific iteration
which is given by the equation

 ij (t )  (1   ) ij (t ) (3.5)

As the number of iteration increases pheromone concentration on shortest path becomes more as
compared to relative longer paths present in the network. So more number of ants start taking the
path with greater concentration of the pheromone which keeps increasing pheromone level.
Eventually paths with shortest length are more preferred by ants.
Due to the adaptability feature of ACO, we applied ACO technique to find the SP in
WSN. ACO algorithms have been applied to many combinatorial optimization problems, like
quadratic assignment , protein folding or routing vehicles and a lot of derived methods have been
adapted to dynamic problems in real variables, multi-targets and parallel implementations,
stochastic problems,. It has been also been used to find near optimal solutions to the Travelling
Salesman Problem TSP. The ant colony algorithm can be run continuously and adapt to changes
in real time. This is of interest in urban transportation systems and network routing.

3.5 Parameter affecting ACO

α: This parameter defines the relative importance of the pheromone on the edges of the graph.

β : This parameter controls the relative importance of heuristic related to path length.

Total no of ants: Based on the pheromone concentration ants visits the nodes. While visiting the
nodes ants lay pheromones on the path. The concentration of pheromone on the path depends on
20
the length of the path. The pheromone dropped by ant on the path is updated only in the next
iteration. So the different types of solution which we are going to get are dependant on how
many ants there are. More the number of ants more solutions we get.

Total number of iterations (runs):

The process of ACO is repeated for several runs. If the number of runs is more we are
having more chance of getting a good optimal solution. Figure 3.3 shows the flow chart for the
ACO indicating the important phases. the phases are repeated in all the iterations. Finally ACO
converges to the OP.

Start

Initialize Parameters

Create Ants

Select next node using formulae 3.1

No Is destination
node

Yes

Update Pheromone on the path using

equation 3.4

Calculate Evaporation using equation 3.5

End

Figure 3.3: Flow chart for ACO

21
Chapter 4
Identifying Optimal Path in WSN using ACO
Last chapter describes ACO. This algorithm can be efficiently applied to combinatorial
problem. It has been already applied to the TSP. Which is proved to be NP hard problem, for
TSP ACO is giving near optimal solution.
In WSN there are hundreds to thousands of nodes. Each node tries to report the sense
information to the BS. So it will be useful if each SN in the network knows the OP between BS
to itself. Hence it is an important task for network communication protocol.

4.1 Set up of WSN

For the proposed work we assume that all the SNs are static. SNs are aware about their
location using localization algorithm [1,2,3]. The communication and transmission range of each
SN is same and it is 100 units. SNs are randomly distributed in a field of interest. WSN has BS
which is having enough energy resource and computational capacity. BS is aware about the SN
deployment, it knows the location and id of all the SN. Hence BS is aware about the WSN
communication links and topology. Computation of OP is done at the BS and it is communicated
with all SN.
SN transmits the information they have collected to BS. The transmission is done through
the OP computed by the BS.

Figure 4.1: SN randomly deployed in field of interest

22
 Here we are assuming that BS which is node 1, knows the coordinates of all other nodes.
Here we will try to find the optimal distance between BS to any target node. ACO will be
applied at BS and results which is Optimal Path OP will be forwarded to target node.

4.2 OPI using ACO

The working of our proposed algorithm is described in the steps 1 to 7. Our proposed
algorithm is modified to suit the needs of energy constrained WSNs. The proposed algorithm
considers a parameter's number of hops and path length to find OP. We overcome the fact that in
traditional ACO the number of hops and path length together are not considered. The value for
the parameter α, β are 3 and 2 &  [0,1]
Steps
Step 1: When the BS starts calculating SP, it detects/selects
Destination nodes in WSN. An ant is created which will generate a path from the BS to the
destination node.

Step 2: Ant “k” on node “i” selects the next node “j” using formula in equation 3.1.
Here “j” is an adjacent node of “i”. An ant “k” has more probability to choose the
node with larger values of pij the next node selected is stored in memory of ant k. ( M k )
k

Step 3: If any ant visits the node which is already visited by the same ant that ant
Is discarded.

Step 4: Step 2 and 3 are repeated till ant k finds a destination node or discarded.

Step 5: Step 1 to 4 is repeated for all ants in that iteration.

Step 6: When all ants complete above procedure pheromone is updated by the amount  on
each edge between node i to j using formulae in the equation.

1 1
 ij (t )   ij (t )  ((  )  ( ij (t  1)  ( k  ))
 (4.1)
j (t )

Step 7: Then the evaporation of pheromone is calculated by using equation 3. 5.

As the above steps are iterated, BS comes to know about the optimal path between it and
the destination. Similarly the BS can calculate distance between it and all other sensor nodes.

23
4.3 Comparison proposed algorithm with Traditional ACO

1. In proposed algorithm Pheromone updating is using equation 4.1 which considers total
path length of Ant, number of hops present in the path while in traditional ACO uses equation
3.3 and 3.4

 k (t )  .(1 / j k (t )) And  ij (t )   ij (t )   ij (t )

These equations don’t consider path length. In proposed algorithm only optimisation of path
length is done node energy, delay, congestion is not considered.

2. Due to different pheromone updating rule best solutions in each iteration gets more chance in
the next iteration so convergence is early achieved compared to traditional ACO.

3. Along with optimal path we can also get other good quality of paths hence the output is
multipath.

4. Probability of visiting a node is increased up to a particular limit while in traditional ACO

there is no such a provision.

5. Traditional ACO uses the greedy approach in selecting the next node to visit short comings of
these approaches is overcome in this proposed algorithm.

6. Entire computation of optimal path is done at BS & then optimal path is communicated with
the target node.

7. In proposed algorithm we are getting multiple paths so in the future it's possible to do load
balancing.

8. Compared to the traditional ACO cycling of Ants is less.

24
4.4 Results:
No of ants: 24 Sensor Nodes:12 No of iterations:5

Figure 4.2

Iteration wise Best ants:

Best ants Table 1

Best path: 1 12 8 5 3 7 6 10

Length: 162

25
Best ants Table 2

Best path: 1 12 8 5 4 3 7 11 10

Length: 176

Best ants Table 3

Best ant : 1 5 4 3 7 2 11 6 10

Length:177.84

Best ants

Table 4

Best ant : 1 5 4 3 2 10

Length: 154.20

26
Best ants

Table 5

Best Ant: 1 5 4 3 2 10

Min: 154.20

Probability and Pheromone concentration from node one to other nodes

Table 6

12 To Pheromone To Pheromone To Pheromone To Pheromone

Node 5 Level Node 8 Level Node 9 Level Node 12 Level

1 0.08 0.0001 0.38 0.0001 0.17 0.0001 0.37 0.0001

2 0.23 2668 0.06 2668 0.29 6027 0.43 5244

3 0.04 7127 0.57 16214 0.19 35043 0.20 17637

4 0.88 7127 0.04 19116 0.04 35043 0.04 17637

5 0.25 47999 0.25 19116 0.25 35043 0.25 22384

27
Previously documented results
This part discusses the identified path using modified ACO and using the traditional
ACO. Figures 4.3, 4.4 and 4.5 show WSN and its communication network. The distance between
corresponding sensors is indicated near the edges.

Figure 4.3 Wireless sensor nodes and its network Figure 4.4 OP using modified ACO

Figure 4.5 Optimal Path using traditional ACO

Here task is to find an optimal path between node 1 to 9. The initial pheromone concentration on
all edges is 0.00001.After implementing API we get the path marked with red colour shown in
figure 4.5. So our optimal path is the 1-3-8-9. The corresponding Pheromone table is given
below. The path which we will get by traditional ACO is shown in figure 4.5.
For choosing the optimal path we just have to look at the edges (table block) with a
maximum pheromone concentration starting from sensor 1 (in row 1) till we reach sensor 9. So
from 1st node pheromone concentration is maximum in the 3rd column (3rd column in 1st row)
which is 0.0001059. So edge from 1 to 3 is added. Then from the 3rd sensor (from 3rd row) look
for maximum pheromone value. 8th column value is 0.0001138 which is the maximum. So add
edge from 3 to 8. With the edge 8, the maximum pheromone concentration is 0.001153, so edge
from 8 to 9 is added. By proceeding this way one can find a path. In Figure 4.4 the path with the
maximum pheromone concentration is marked with red colour. This path is OP.

28
 Table 7

N 1 2 3 4 5 6 7 8 9
0.00003 0.0001
1
0 53 059 0.000015 0 0 0 0 0

0.0000 0.0000
2
353 0 185 0.0000317 0.0000166 0 0 0 0

0.0001 0.00001
3
059 85 0 0.0000205 0 0 0 0.0001138 0

4 0.0000 0.00003 0.0000

15 17 205 0 0.0000221 0.0000158 0 0 0

0.00001
5
0 66 0 0.0000221 0 0.0000227 0.0000216 0 0

6 0 0 0 0.0000158 0.0000227 0 0.0000208 0 0

7 0 0 0 0 0.0000216 0.0000208 0 0.0000145 0.000309

0.0001
8
0 0 138 0 0 0 0.0000145 0 0.001153

9 0 0 0 0 0 0 0.000309 0.001153 0

Now on the same network but with the node number 7 (figure 4.6 & 4.7)

Figure 4.6 Figure 4.7

29
As a destination node destination node OPI is applied then result are shown in figure 4.6. Figure
4.7 shows result using 4.8.
Table 8

N 1 2 3 4 5 6 7 8 9
1 0.024
0 0.2753 0.0176 0 0 0 0 0
83
2 0.024 0.0179
0.0273 0.0143 0 0 0 0
83 81
3 0.275 0.017
0.0168 0 0 0 0.2777 0
3 9
4 0.017 0.027
0.0168 0 0.0209 0.01636 0 0 0
6 3
5 0.014
0 0 0.0209 0 0.0200 0.0213 0 0
3
6 0 0 0 0.0163 0.0200 0 0.0187 0 0
7 0 0 0 0 0.0213 0.01873 0 0.2737 0.01399
8 0 0 0.2777 0 0 0 0.2737 0 0.01399
9 0 0 0 0 0 0 0.0139 0.0139 0

From node 1 to 7 if we chose the maximum pheromone value then our path becomes 1-3-8-7.
The total path length of this path is 79.

4.5 Conclusion:
Finding the optimal path in dynamically changing resource constrained WSN is
challenging. Our work proposes an approach to identify an OP for communication between SN
to BS. Existing greedy approach is static in providing optimal path. In our computational
approach and communication overhead is reduced as BS takes the responsibility of computation
& OP is calculated based on pheromone concentration. It and contributes to enhance network
life time by proposing an alternative path for communication between BS and SN.

30
 5 Target Tracking in WSN
This chapter deals with the problem of tracking single target in the WSN. The SNs which
are deployed in the field of interest sense the moving target. There are measurement uncertainties
in the position sensed by the SN due to environmental noise, multipath propagation of signals. In
such a scenario we have to estimate the trajectory of the target. The target's trajectory can be
linear or nonlinear. If the trajectory is linear and noise is Gaussian then Kalman filter is the very
strong method for tracking the trajectory of the (object) target. But practically many time
trajectories are non linear and noise is non Gaussian. In this scenario Particle Filter PF is very
useful method.

5.1 Introduction to tracking problem

Target tracking is the one of the most important application of the WSN. In this
application sensor collaboratively sense, process, & determine state of the moving target.
Tracking in WSN is challenging task due to distributive nature, limited energy & computational
ability of SN. A typical scenario is shown in figure 5.1. Here in the problem target tracking
means target gets identified by the signals received by the one or more SN, position or the state
of the target sensed by the sensor is not accurate because the noisy environment. So the problem
is to find out the accurate trajectory of the object.

Figure 5.1 A typical scenario of tracking

When SN sense the target that event is reported back to the BS as shown in figure 5.2

31
 Figure 5.2 event reporting

For reporting the target back to the BS the OPI is used which is already mentioned in the
previous section. Then at BS PF Particle Filter is implemented to estimate the trajectory of the
target.

5.2 Mathematical Basics for PF

The following data is to be estimated using PF

x: current x-coordinate of the target

y: current y-coordinate of the target

vx : velocity in the direction of the x-coordinate

vy: velocity in the direction of the y-coordinate

The goal of this project is to estimate the target's position and velocity at corresponding instance.
Each SN in the network is assumed to be already localized. The target position and velocity is
estimated using the PF & Performance of SN is analyzed. It is assumed that each sensor is
actively contributing to the observation. Performance of the sensor network is analyzed when the
SNs are placed randomly. Each SN role is to decide whether the target is present or absent. This
decision is based on M samples of the received signal. This received signal passes through the
SN in a noisy channel. Hence, the decision made is not always accurate. After making the
decision, the SN transmits a one or a zero depending upon the presence or absence of the target.
This transmission takes place every dt seconds, where dt is the time interval between any two
32
consecutive transmissions. Based on this observed information, the PF estimates the position and
velocity of the target.

5.2.1 Target Model

The target model is a linear. It is discrete time, We have taken velocity as a linear
function. The noise attributed with the system constant covariance matrix Q (equation 5.2 b).
The target motion is restricted to a two dimensional plane. Mathematically the model can be
represented as:

(5.1a)

Where:

(5.1b)

A=[ 1 0 dt 0 (5.2 a)
0 1 0 dt
0010
0001]

Q= [ dt^3/3 0 dt^2/2 0 (5.2 b )

0 dt^3/3 0 dt^2/2
d t^2/2 0 dt 0
0 dt^2/2 0 dt ]

PF is applied using the above mentioned target model, the important steps in PF is given in the
algorithm. Flowchart in figure 5.3 shows the important steps.

5.2.2 Bayesian Tracking

Bayesian approach is very helpful for estimating trajectory using PF. In the Bayesian
approach for dynamic state estimation, one attempts to estimate the state Xk (real position of the
object) with the help of the available measurements Y1, Y2, ..., Yk (Observed position by the SN).
Where Xk, Yk denote the kth instant sample. Let us denote the set of measurements (observation)
that are available up to the time step k as Y1: k = [Y1, Y 2, ..., Y k] and the set of all (real position)
states as X0:k = [X0, X1, ..., Xk]. This is equivalent to constructing the conditional posterior
probability density function PDF p(X0:k|Y1:k) of the state of the based on all available
information, including the receiving measurements . An optimal state can be estimated from the
posterior PDF if a priori distribution function is known.
So probability distribution function is not available and we try to estimate the probability
distribution function p(Xk|X1:k−1). It is assumed that the initial probability distribution function
p(X0|Y0) = p(X0) is available as initial state is known. Y0 implies that there are no measurements

33
at time k = 0. The probability distribution function p(Xk|Y1:k) is obtained recursively. In first
phase prediction is done in the second phase update is done.

Prediction Stage: Let us assume that the probability distribution function p(Xk−1|Yk−1) at time
k − 1 is available. In This stage system model is used to obtain the prior probability distribution
function of the state at time k using the Chapman-Kolmogorov equation
=

(5.3)

Update Stage: In the prediction stage, we use Bayes theorem to compute p(Xk|Y1:k). Thus,

= /

(5.4)
In Equation (5.4), p(Yk|Xk) is called the likelihood function, p(Xk|Y1:k−1) is called
The prior or the prediction density and p(Yk|Y1:k−1) is called the evidence function.

5.2.3 Particle Filter

PF assume that we can draw samples from a given probability distribution function. Let us
assume that we can draw N independent and identically distributed samples from the posterior
probability. These samples are called as the particles. Once the N particles are drawn the weight
are assigned to this particles .The weight of the particle is inversely proportional to difference
between particles position and actual location of the object at that instant. wik refers to the weight
of the ith particle at kth instant of time. Once the weight of the all the particle at that instant is
obtained then position of the object can be estimated using the formulae 5.5

= (5.5)

Where is dirac delta function.

34
5.3 The PF Algorithm

Start

Initialize Particles

Particle Generation

Weight Computation

Normalize weights & estimate

position using equation 5.5

Resampling Output Estimate

More Output
Observation

End

Figure 5.3 Particle Filter

The above flow chart shows the important steps of PF. The algorithm below explains the PF.

35
Steps

1. Initialize t: k = 0
2. Sample the particles Xi0= p(X0) for all i ( i = 1, 2, . . . , N)

3. k = k + 1

4. For all i (i = 1, 2, . . . ,N) sample particle Xik = p(Xk|Xik−1) & calculate estimated position
using equation 5.5.

5. Obtain {Xi0:k, w(X0:k)} by importance sampling.

Where ( normalized weight) wk(Xi0:k) =wk(Xi0:k)/∑ wk(Xj0:k) (w is used to denote weight of

particle).

6. Obtain new set of particles {Xj0:k}with their weight by Re-sampling.

7. Go back to step 3

Target tracking involves drawing an inference about an object’s motion in space by

making use of available observations about that object. These observations could include
anything ranging from a range and range rate to a sequence of position of the object. In this
problem, we consider tracking an object based on measurements received from a network of
sensors. We are mainly interested in the position and velocity state of the object.

5.4. PF Implementation & Simulation results

A simple particle Filter is used to determine the performance of the WSN. The details of
the PF is explained in [10]. The proposed distribution used is the conditional state density
p(Xk/Xk-1) obtained from the dynamics model presented in equation 5. 1 & 5.2. The basic idea
behind particle filtering is to represent the location density function by a set of random points (or
particles) which are updated based on the observation (sensor readings) and the target model
(provided in equation 5.1). Estimation of the true locations then performed using these particles.
If p(Xk/Y1:k) can be factored into two different terms. Analytical computation of one term is
possible. This may lead to a reduced number of particles with good performance. A collection of
particles X(j)k and associated weights w(j) k are used to estimate the state and its associated
covariance matrix.

(5.6)

(5.7)

36
At each iteration re-sampling is done .Weight update equation for each particle is wk = p(Yk/Xk)
Figure 5.4, shows the target tracking scenario using PF.

Figure 5.4 Particle Filter

The performance criterion is the average squared error. In All the simulations performed the
initial state is known. So initial state of the target is known to the PF. One other factor is that in
the case where SNs are randomly distributed, only once random distribution is chosen.
In the experiment 500 sensors are randomly distributed, no of particles in the experiment
are 100. Figure 5.5 explains variation in original trajectory estimated trajectory.

Figure 5.5 Trajectory tracking (result1)

37
 We can see from the result shown in the diagram estimated trajectory almost matches the
true one. The squared average error is 0.1704.
The result for the same trajectory but by differently resolving x and y component of
motion is shown in figure 5.6 .The squared average error in x axis direction 4.0161 and the
Squared average error in y axis direction 0.0973. Calculating these components differently
increases the accuracy of the PF. It also makes the analysis of the result simpler.

Figure 5.6 Trajectory tracking (result1)

Figure 5.7 shows true and estimated velocity along the x & y direction. The squared
average error in x axis is 0.1385. The squared average error in y axis is
0.0993. The motion estimation can be done using the PF as well as using the Kalman filter also.
Figure 5.8, 5.9, 5.10 shows some more result for trajectory tracking. From this it is clear
that PF estimate almost perfect trajectory of the object.

38
 Figure 5.7 Velocity Estimation (result1)

Figure 5.8 Trajectory tracking (result2)

Comparison of original trajectory and actual in 2d plane. squared average error is 0.2269

39
 Figure 5.9 Trajectory tracking (result2)

Squared average error in x axis direction is 6.0757. squared average error in y axis direction
4.9729.

Figure 5.10 Velocity Estimation (result2)

40
Squared average error in x direction velocity is 0.1549.
Squared average error in y direction velocity is 0.1657.

5.5 Conclusion

Accurately estimating the trajectory of the target in the field of interest using the observations
received from SNs is challenging. Improper techniques involved can lead to erroneous estimates
of the locations of target t, at any point of time in the field. Our work uses PF technique to
estimate the trajectory of moving object using the observation collected by the randomly
deployed WSN, the measurement of the SN within specific distance are only considered reliable
WSN for estimation . These reliable nodes increase the tracking accuracy. Simulation results
Show that the error of tracking the trajectory is very small.
Along with trajectory velocity of the moving object is also estimated. The estimates
velocity helps in the resamling process. This finally improves the accuracy of tracking.

5.6 Future work

The work in this project can be divided into two parts 1. OPI using ACO and 2.Object
Tracking using PF.
In 1st case it is also possible to obtain the multiple paths in WSN between BS and SN
which are optimal and sub optimal. As optimization is done taking into account path length and
number of hops in the path some other factors like energy consumption and traffic on the path
can be also considered.
For trajectory tracking we have only estimated the trajectory travelled by the target, but
using the same technique the next position of the object can be predicted. This information can
be used to alert SN around that position and increasing the accuracy of tracking. It is also
possible to use the sleep scheduling in WSN and save the energy in the WSN but it will
compromise the accuracy of the tracking. In this case also PF can be used to increase the
accuracy of the tracking.

41
6 References:
1. Zheng Yang, Yunho Liu, Xiang-Yang Li “Beyond Trilateration: on the Localizability of
Wireless Ad hock Networks” IEEE Transaction On Network, ACM , VOL 18,NO 6, Dec 2010

2. Andreas Savvides, Heemin Park , Mani Srivastava ”The n-Hop Multilateration Primitive
for Node Localization problems.”Mobile network and application 8, 443-451, 2003

3. Neal Patwari, Joshau N.Ash, Alfred o.Hero, Neir S.Correal “Locating the Nodes
Cooperative localization in wireless sensor networks”IEEE Signal processing magazine July
2005

4. Farah Mourad, Hichem Chehade, Lionel Amodeo “Controlled Mobility sensor Networks
for Target Tracking using Ant Colony Optimization” IEEE Transactions on Mobile
Computing Vol 11,No 8 , Aug 2012

5. Dorigo.M, Maniezzo.v, Colornj.A, “The ant system: Optimization by a colony of

cooperating agent” IEEE Transactions on Systems, Man, ad cybernetics-Part B,Vol26-1,PP.29-
41(1993).

6.Dorigo, M.and Gambardella, L.M., “Ant colony system: A cooperative learning approach
to the traveling salesman problem” IEEE Transactions on Evolutionary Computation,Vo1.1-
1,pp.53-66(1997)

7.K.saleem, N.Fisal, S.Halfizah, S.Kamilah “A self-Optimized Multipath Routing Protocol

for Wireless Sensor Networks ” International Journal of Recent Trends in Engineering , vol 2,
No.1, November 2009

8. Selcuk Okdem and Dervis Karabog “Routing in Wireless Sensor Networks Using an Ant
Colony Optimization (ACO) Router Chip” Sensors 2009, 9, 909-921; doi:10.3390/s90200909

9. Selculk Okdem, Dervis Karaboga ”Routing in sensor network using Ant Colony
Optimization” Proceeding of the first NASA conference on Adaptive Hardware(AH’06) 0-
7695-2614—4/06 2006 IEEE

10 N. G. M. Arulampalam, S. Maskell and T. Clapp, “A tutorial on particle fillters for

onlinenonlinear/non-gaussian bayesian tracking" IEEE Transactions on Signal
Processing,vol. 50, pp. 174,188, Feb. 2002.

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 Publication
Aniket. A. Gurav, Manisha. J. Nene “Optimal path Identification using Ant Colony
Optimisation in Wireless Sensor Network” selected for International conference WIMOA
2013 to be held at Delhi will be published in Springers Advances in Intelligent Systems and
Computing book Series.

43

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