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Performance Evaluation of PIR Sensor Deployment in Critical Area Surveillance

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Performance Evaluation of PIR Sensor Deployment
in Critical Area Surveillance Networks
Serkan Akbas1, Mehmet Akif Efe2, Suat Ozdemir3
Computer Engineering Department
Faculty of Engineering, Gazi University
Ankara, Turkey
1
serkan.akbas@rocketmail.com, 2makifefe@yahoo.com, 3suatozdemir@gazi.edu.tr
Abstract— In recent years, wireless sensor networks offer cost-
effective solutions to various surveillance and tracking
applications with the developments in sensor techniques. In
many of these applications, sensor nodes that are equipped
with directional sensors and they operate autonomously in
unattended environments. The deployment strategy of
directional sensor nodes is critical to improve target detection
and tracking accuracy. In this paper, deployment of passive
infrared motion (PIR) sensors is analyzed in terms of coverage
issue. A PIR Sensor Deployment (PSD) problem is addressed
using deployment schemes that are based on computational
geometry. Finally, the performance of deployment schemes is
evaluated in a Java based simulation environment.
Keywords- wireless sensor networks; passive infrared sensor;
target detection; sensor deployment; sensor coverage
I. INTRODUCTION
Wireless Sensor Networks (WSNs) consist of large
number of sensor nodes with limited memory, computational
and communication resources. Generally, the objective of
these networks is to sense the environment and send the
collected data to a data collection center (i.e. sink) [1-4]
where the operation area is usually harsh and hostile. In
recent years, WSNs offer cost-effective solutions to various
surveillance and tracking applications in which sensor nodes
are deployed to operate autonomously in unattended
environments [1-4].
As sensor nodes are equipped with limited energy
resources, energy conservation is a fundamental issue for
WSNs. Therefore, main tasks of WSNs such as data
transmission and sensing should be performed in an energy
efficient way. Many critical area surveillance applications
require sensor nodes that are equipped with directional
sensors which makes sensing task more difficult and energy
consuming. For directional sensors, coverage area, angle of
view, directionality and line of sight requirements are main
constraints for correct positioning of the target. Hence, the
deployment strategy is very important to address these
design constraints for energy efficiency while improving
target detection and tracking accuracy [1-4].
Directional sensor nodes do mainly include video,
infrared and ultrasound sensors. These sensors work in a
specified direction at a given time, hence achieving full
coverage in the network area is not a trivial task. There are
numerous studies that tackle with the coverage problem in
directional sensor networks which can be categorized as
target-based coverage solutions, network area-based
coverage solutions, coverage solutions with guaranteed
connectivity and network lifetime prolonging solutions [3].
All of these solutions prefer various strategies for
positioning directional sensors. Sensor nodes can be
deployed randomly or using a predetermined deployment
plan. In random deployment, sensor nodes are usually
scattered resulting a randomized distribution in an
inaccessible terrain such as disaster areas and active war
zones. In planned deployment, the location of sensor nodes is
specified to improve the target detection and tracking ability
of WSN. Planned deployment is available for a wide variety
of WSN applications like border security, critical area
surveillance, intrusion detection and structural monitoring,
and health care. Genetic algorithms, computational
geometry, artificial potential field and particle swarm
optimization are main mathematical approaches commonly
used for building sensor node placement algorithms for
planned deployment [2, 4].
In target detection and critical area surveillance
applications, PIR sensors are commonly used. [3]. Unlike
other directional sensors, PIR sensors do not require any
device or signal from detecting target and do not need
daylight. Basically, PIR sensors can detect changes in
infrared radiation which is caused by movement of a target
that has different temperature from the environment. Also, a
PIR sensor has a wide sensing area of 10 meters with 110°.
Therefore, PIR sensors are very useful to detect and track
targets in critical area surveillance systems [5]. However,
there is limited number of studies that focuses on coverage
efficiency of PIR sensors.
This paper tackles with the deployment of PIR sensors in
critical surveillance WSNs. The PSD problem is addressed
by various deployment scenarios that are based on
computational geometry. Our contribution in this paper is
that we present several deployment scenarios to evaluate PIR
sensor coverage efficiency in target detection and tracking
applications by theoretical analysis and extensive
simulations. To the best of our knowledge, there is no study
that focuses on the coverage efficiency of directional PIR
sensors by using different deployment scenarios.
The rest of the paper is organized as follows. In Section
2, literature review is presented. Section 3 explains the
deployment schemes for PIR sensors. Theoretical analysis of
the deployment schemes are presented in Section 4. In
Section 5, performance of deployment schemes is evaluated
by using a Java based simulator. Finally, the paper is
concluded in Section 6.
II. RELATED WORK
There is a variety of approaches in the literature to
improve the localization performance of infrared sensors [5-
14].
Authors of [5] claim that the deployment of PIR sensors
is very important when region-based tracking algorithm is
used. A sample approach determining the location of PIR
sensor nodes is also proposed in the paper. The work
reported in [6] addresses the problem of target detection and
classification using seismic and PIR sensors and makes use
of wavelet-based feature extraction method to resolve this
problem. The advantages and disadvantages of seismic and
PIR sensors are also discussed. For example, the deployment
of sensors largely depends on the intent of use and
environment. PIR sensor deployment could be very
expensive, because the detection range of PIR sensors has a
short range of detection. Therefore, it is recommended that
seismic and PIR sensor should be used together.
In [7], PIR sensor nodes are deployed linearly and the
sensing area is divided into cells through the four sensing
region of each PIR sensor node. In another study [8], five
PIR sensors are attached to a service robot to make a circular
sensing region. According to the experimental results stated
in these studies, the usage of PIR sensors can improve the
accuracy of target detection and tracking. Unlike real sensor
nodes, most of researches assume that sensor nodes have a
360° Angle of View (AoV). For example, a node
deployment strategy that assumes PIR sensor nodes have
360° AoV is proposed in [11]. The performance of the
proposed deployment algorithm is evaluated by comparing
the coverage at the initial and final locations of sensor nodes.
In conclusion, sensor deployment is categorized into two
categories in the literature: Finding the optimal location for
sensor nodes or modulating the optimal Field of Views
(FoV) [5-14]. In this paper, we follow the first approach for
coverage efficiency.
III. PIR SENSOR DEPLOYMENT SCHEMES
The deployment strategy of a WSN lifetime as the
strategy determines the number of sensor nodes and their
locations, and the average distance among sensor nodes
which are closely related to WSN lifetime. Therefore, in
order to increase energy efficiency of sensor nodes and
prolong the network lifetime, deployment strategy plays a
critical role. In this section, we assume that sensor node
placement is done manually and according to this
assumption we present several geometric-based PIR sensor
deployment scenarios. In later sections, presented scenarios
are evaluated.
In the presented scenarios, sensor nodes have strictly
limited communication, processing and sensing capabilities
and all deployment scenarios share the same goal: Achieving
the PSD problem. In general, a PIR sensor’s sensing is
within 110°in 3 dimensions. In order to achieve full
coverage, sensors are located on the corners of the
corresponding geometric shape and their coverage area may
intersect each other. Fig. 1 presents a generic PIR sensor and
its coverage area. In addition, Table 1 summarizes the
notations used in the paper.
A. Deployment Scenarios
In theoretical analysis, the surveillance area is divided
into geometric shapes in order to deal with the PSD problem.
Each deployment scenario is explained by providing the
properties of corresponding geometric shape, the sensor node
deployment strategy in a geometric area and the process of
finding the number of sensor nodes per unit surveillance
area.
The number of sensor nodes per unit surveillance area is
calculated by using following parameters: Surveillance Area
(SA), Geometric Shape Area (GSA) in which sensor nodes
are located, Numbers of Geometric Shape (NGS) in SA and
Total Number of Sensor nodes (TNS) in SA.
SA is calculated in terms of l and w which are taken as
the coefficients of r. Coefficients are denoted as n and k.
FoV of sensor nodes can overlap with each other. NGS is
calculated by dividing SA into GSA. According to the
deployment strategy, we multiply the Number of Sensor
nodes Per Unit geometric shape (NSPU) with NGS to find
the TNS. Finally, Density of Sensor nodes (DS) is computed.
We used the value of DS to evaluate the deployment
scenarios.
SA = l × w = (n × r ) × (k × r ) = nkr 2 (1)
NGS = SA GSA (2)
TNS = NGS × NSPU (3)
 SA 
 × NSPU 
TNS  GSA  = NSPU
DS = = (4)
SA SA GSA
Figure 1. PIR Sensor
 TABLE I. NOTATIONS are given in Fig. 5(a) and Fig. 5(b). Also an example
Notations Description deployment scenario for a hexagonal is in Fig. 5(c). DS that
Wd Working direction of PIR sensor
is required to provide full coverage is calculated by
following below steps;
r The radius of PIR sensor’s sensing range.
The length of surveillance area which is multiples of r23 3 6
l
sensing radius of PIR sensor. GSA = DS = ≈ 2.31 r 2
The width of surveillance area which is multiples of 2 2
(r 3 3 ) 2
w
sensing radius of PIR sensor.

B. Square Deployment
In this deployment scenario, the surveillance area is
divided into square areas. The edge length of each square is
equal to r meters. As illustrated in Fig. 2, two sensor nodes
are located at any two diagonal corners of a square facing
each other. Since the PIR sensors have 110° AoV, locating
two sensor nodes in diagonal corners can fully cover the
square area. DS that is required to provide full coverage is
calculated by following below steps;
GSA = r × r = r 2 DS = 2 r 2
C. Triangular Deployment Figure 2. Square deployment scenario
In this deployment scenario, our aim is to locate sensor
nodes in triangular mode. Equilateral triangles and 110°
isosceles triangles are two different strategies for triangular
deployment.
1) Equilateral Triangular Deployment
As we use the triangular method, each vertex of an
equilateral triangle is r meters. Only one sensor is located to
cover the triangular area. Working direction and an example
deployment scenario for an equilateral triangle are given in
Fig. 3(a) and Fig. 3(b). DS that is required to provide full Figure 3. Equilateral triangular deployment scenario a) working direction;
coverage is calculated by following below steps; b) sample deployment with 5 sensor nodes

r2 3 1
GSA = DS = ≈ 2.31 r 2
4 (r 2
3) 4

2) 110° Isosceles Triangular Deployment

In this method, the apex angle is selected as 110°. The
vertices of this corner (arms of 110° main angle) are r
meters. One sensor is located on the apex angle. As seen Figure 4. 110° isosceles triangular deployment scenario a) working
from Fig. 4, with 110° PIR sensors, locating one sensor in direction; b) sample deployment with 4 sensor nodes
the apex angle is sufficient to cover the whole area of the
triangle. The working direction and a planning deployment
for an isosceles triangular are given in Fig. 4(a) and Fig.
4(b). DS that is required to provide full coverage is
calculated by following below steps;
r 2 × sin (110 ) 1 2.13
GSA = DS = ≈ 2
2 0.4698 × r 2
r
D. Hexagonal Deployment Figure 5. Hexagonal deployment scenario a) working direction; b) total
coverage; c) sample deployment with 18 sensor nodes
In this deployment scenario, the deployment of sensor
nodes is based on hexagons. A sensor node is located on In this section, the geometric shape based deployment
each corner of a hexagon. Hence, there are six sensor nodes schemes are explained and DS value is computed for each
in each hexagon. Sensor nodes which are located on opposite deployment scenario. The main design constraint of
corners are facing each other. Every vertex of the hexagonal deployment scenarios is to maximize the number of targets
is r meters. Working direction and total hexagonal coverage to be detected while minimizing the number of sensor nodes
to be deployed. Analysis shows that the minimum DS is
provided by square deployment scenario. Hence, square
deployment scheme is more suitable for the PSD problem.
IV. PERFORMANCE EVALUATION
In general, the communication range of sensor nodes is
longer than their sensing range. Therefore, in order to
simplify the evaluation, sensor communication is omitted
and only the sensing operation of PIR sensors is analyzed.
As it is shown in the previous section, sensor nodes are
deployed in the surveillance field with different deployment
strategies and square deployment method is found to be more
suitable for the PSD problem. In this section, we develop a
Java based simulation environment to evaluate each
deployment scenario. In addition to previously explained
geometric shape based deployment scenarios, we also
simulate a random deployment scenario and compare it with
the other deployment scenarios. In simulation, the following
metrics are considered; cost as the required number of sensor
nodes, performance as the target detection ratio and
redundancy as the average of the number of sensor nodes
which detect the target.
In the simulation study, the performance of proposed
deployment methods are first evaluated by determining
whether targets created in different locations are detected by
sensor nodes. Then, a depth analysis of the surveillance area
is performed to explore the influence of the two parameters,
the coverage multiplicity and the grid spacing with sensor
quantity. Briefly, we try to find out the answers of the
following questions;
• How does the target detection ratio vary with the
deployment strategy?
• How does the cost vary with deployment strategy?
• What is the efficiency of each deployment strategy?
A. Target in Sector Test
Target in Sector (TIS) test [15] is used to find out whether
a created target is in the FoV of a sensor node or not. In the
simulation, following instructions are followed to realize
this test;
1. Check whether the distance between sensor node S
and target T is less than or equal to r. This condition
is applied in order to ensure that the T is within the r
of S.
ST ≤ r
2. Calculate the coordinates of working direction
vector Wd pointing from S to the point which is r
distance away from S in the direction of head angle
of S.
3. Calculate the distance vector ST pointing from S to
the T.
4. Perform the inner production of Wd and ST. Then,
check below condition to ensure that distance vector
is within the FoV;
Wd ⋅ ST ≥ ST × cos(α 2)
5. If the conditions defined in first and fourth
instructions hold, the result of TIS test is positive.
This means that target is covered by the sensor node.
This approach is commonly used in target-based
coverage solutions. In our simulation we use TIS test to
determine the target detection ratio.
V. SIMULATION RESULTS
In [16], a border surveillance scenario is constructed in
order to simulate surveillance WSN and analyze the impact
of sensor count on detection ratio and time to detect the
target. We create a similar surveillance scenario and evaluate
the PIR deployment schemes according to our evaluation
methodology. In the simulation, sensor communication is not
considered, and only the sensing operation of PIR sensors is
modeled.
A. Simulation Setup
A Java based simulation environment is developed to
evaluate the proposed deployment scenarios. The simulator
executes the sensor deployment and target detection modules
100 times and the average values are used.
First, the simulation model distributes targets inside the
surveillance area. The location of each target is generated
from various distributions: uniform, gaussian and random.
For each target distribution, the simulation model computes
the location of sensor nodes and breaks down the
surveillance field into geometric shapes according to
deployment schemes presented in Section 3. Also, random
deployment is used as a reference deployment scheme with
which other schemes are compared. Secondly, the TIS test is
applied to determine which targets are detected and which
sensor nodes detect them. Finally, simulation model presents
data sets which are used in the evaluation process. The
simulation results are the averages of 100 different data sets
obtained by executing the simulation consecutively. The
length and width of the surveillance field, number of sensor
nodes deployed, deployment scheme, the sensing radius of
sensor node, the angle of sensor node’s view, number of
targets generated and target distribution type are the
parameters that are controlled in the simulations. All these
parameters are summarized in Table 2. The length and width
of surveillance field are chosen as multiples of sensing radius
r for the sake of easiness.
B. Impact of deployment strategy on target detection ratio
The performance of the random deployment and our
proposed deployment schemes are compared for various
target distributions. As shown in Fig. 6, proposed
deployment schemes achieve a higher target detection ratio
compared to random deployment in uniform and random
target distributions. In gaussian target distribution, only
equilateral triangular deployment scheme is less successful
than random deployment. In random target distribution, the
target detection ratio of square deployment scheme is the
highest, which is approximately equal to 100%. We choose
Ns as 36 to analyze the impact of deployment strategy on
detection ratio. Therefore, the performance of all deployment
schemes is less than 100% target detection ratio as expected.
Figure 6. Impact of deployment strategy on target detection ratio a) uniform target distribution; b) random target distribution; c) gaussian target distribution
(1): RANDOM, (2):SQUARE, (3): TRIANGULAR_60, (4): TRIANGULAR_110, (5): HEXAGONAL

TABLE II. PARAMETERS FOR SIMULATION E. Target detection redundancy of each deployment
strategy
Parameter Description Value
The relationship between deployment scheme and the
The length and width of
l,w
the surveillance field.
60 x 40 meters average of the number of sensor nodes which detect the
target is shown in Fig. 9. Since the distance between
Ns Number of sensor nodes 36 sensor nodes facing each other and the efficient coverage
RANDOM, area per unit geometric shape are further, the square
SQUARE, deployment scheme achieves a higher performance in
DS Deployment Scheme TRIANGULAR_60, terms of target detection redundancy. The hexagonal
TRIANGULAR_110, deployment scheme gives results closest to triangular
HEXAGONAL
deployment schemes. On the other hand, 110° isosceles
The radius of sensing triangular deployment scheme is more successful than
r 10 meters
range.
hexagonal and equilateral triangular deployment schemes
AoV The angle of view. 110 degrees because it provides less overlapped sensing area.
NT Number of targets 100
F. Impact of AoV on target detection ratio
RANDOM,
Target Distribution We run square deployment scenario with Ns = 6, 18
TD UNIFORM,
Type
GAUSSIAN and AoV = 110° and 360° in order to determine the impact
of AoV. Also, targets are placed with uniform distribution.
C. Impact of number of sensor nodes on target detection As shown in Fig. 10, sensor node’s AoV directly affects
ratio the target detection ratio. Less number of omnidirectional
In order to investigate the impact of number of sensors sensor nodes is enough to cover the whole surveillance
on target detection ratio, we run several simulation area. Hence, deployment strategy is more important for
scenarios with varying number of sensor nodes with Ns = directional PIR sensors compared to omni directional
12, 24, 36 and 48. Also, targets are placed with uniform sensors.
distribution. As shown in Fig. 7, the number of sensor
nodes and target detection ratio are directly proportional VI. CONCLUSION
for all deployment schemes. Equilateral triangular The deployment strategies for directional sensor nodes
deployment schemes achieve a higher performance than are considered with critical area surveillance taken as the
other deployment schemes when the number of sensor is target detection application. A various PIR sensor node
12. As the number of sensor nodes increase, square deployment schemes based on computational geometry are
deployment scheme has further performance provided. Suitable measures are discussed and a
improvements. Namely, the target detection ratio of square simulation environment is developed to evaluate the
deployment scheme is equal to 100%. proposed deployment schemes in terms of performance,
D. Impact of target distribution on target detection ratio cost and redundancy parameters. Simulation study gives
similar results to theoretical analysis as the square
The impact of target distribution on target detection deployment method is more suitable for the PSD problem.
ratio is shown in Fig. 8. All deployment schemes are less Simulation results also reveal that, in order to handle the
successful when targets are placed with gaussian PSD problem, deployment scenario is more important for
distribution. In terms of target detection rate, uniform and directional PIR sensors compared to omni directional
random target distributions take similar effects on all sensors. As for the future work, we plan to consider sensor
deployment schemes. Square deployment scheme is the communication and sensing operation together to analyze
most successful in all target distributions. On the other the network lifetime with actual implementation and
hand, triangular and hexagonal deployment schemes experiments in real environment. We also plan to use PIR
achieve very close target detection ratio.
 and sensors seismic sensors together to implement a
deployment strategy considering environmental factors.
Figure 7. Impact of number of sensor nodes on target detection ratio
Figure 8. Impact of target distribution on target detection ratio (1:
UNIFORM, 2: RANDOM, 3:GAUSSIAN)
Figure 9. Target detection redundancy of each deployment strategy
(1: RANDOM, 2:SQUARE, 3: TRIANGULAR_60, 4:
TRIANGULAR_110, 5: HEXAGONAL)
Figure 10. Impact of AoV on target detection ratio
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ACKNOWLEDGMENT
This research is supported by Ministry of Science,
Industry and Technology SANTEZ program under the
grant number 0211.STZ.2013-1.
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