Unit 4

Localization And
Routing
 Unit 4: Localization And Routing

1 Localization : Localization Challenges and Properties, 8.1, 8.2 R2

Deployment Schemes,

2 Proximity Schemes. Ranging Schemes, 8.3, 8.4 R2

3 Range-Based Localization, Range-Free Localization, 8.5, 8.6 R2

4 Routing Basics, Routing Metrics, 5.1,5.2 R2

5 Routing Protocols, Full-Network Broadcast, Location- 5.3 R2

Based Routing, Directed Diffusion, Collection Tree
Protocol, Zigbee, Multi-Hop Communications
What is Localization
● In Wireless Sensor Networks, sensor
nodes that are deployed into the
environment, do not have prior
knowledge of their location.
● The problem of determining the node’s
location (position) is referred to as
localization.
8.1 LOCALIZATION CHALLENGES AND
PROPERTIES
● In indoor environment or in the
presence of the some obstacles like
dense forests, mountains, or tall
buildings, GPS is not accessible
● GPS consumes enormous amount of
power, which is a limited resource in
WSNs
● Cost and size constraints of GPS
delimits the popularity of the sensor
nodes
8.1.1 Types of Location
Information
● Absolute or Global position
◦ position within general global reference
frame
◦ Global Positioning System or GPS
(longitudes, latitudes)
● Relative position
◦ based on arbitrary coordinate systems and
reference frames
◦ distances between sensors (no relationship to
global coordinates)
8.1.2 Accuracy Against Precision

What is the difference?

● Localization accuracy is the largest

distance between the estimated and the
real position of the sensor node.
● Localization precision is how often a
given accuracy is really achieved.
8.1.3 Costs of Computing
● Financial Cost
● Space Cost
● Communication and Energy Cost
● Infrastructural Costs
Proximity schemes
Self Localization
● Range-based Localization: uses the

measured distance/angle to estimate the

indoor location using geometric principles.

● Received Signal Strength Indicator (RSSI)

● Time of Arrival (ToA)

● Time Difference of Arrival (TDoA)

● Angle of Arrival (AoA)

Self Localization
● Range-free Localization: uses the
connectivity method to estimate the location.
Distances are not measured directly but hop
counts are used. Once hop counts are
determined, distances between nodes are
estimated using an average distance per hop
and then geometric principles are used to
compute location.
HOP Based Localization
Point In Triangle
Ranging Techniques
This scheme works by propagating the true
Euclidean distance to the anchor node(L)
If accurate distance measurements are
available, nodes can estimate exact distances
to anchors
Ranging Techniques
● Trilateration Triangulation
 LATERATION
Trilateration
Given: Three points with known positions
Distances to all three of them
B B
A A

C C

Position can be determined by intersecting three circles centred in the

points with radius the known distances

Mulitilateration

A A A

B B B

C C C
 TRIANGULATION
• Triangulation is used when the direction of
the node instead of the distance is
estimated, as in Angle of Arrival (AoA)
systems. The node positions are
calculated by using the trigonometry laws
of sine and cosine.
θ3

θ2
θ1
Routing
● Routing Basics,
● Routing Metrics
● Routing Techniques
 Routing Basics
● Data source
◦ The node in the network, which produces the
required data and is able to send it out to other
nodes in the network
● Data destination
◦ The node in the network, which requires the
data and is able to receive it from other nodes
in the network
Contd..
● Data forwarder. Any node in the
network, which is not the source or the
destination of the data, which is able to
receive it from another node and to send it
further
● Data sink. A dedicated node(s) in the
network, which is the implicit destination
of any data in this network.
Routing scenarios in a sensor
network
Routing scenarios in a sensor
network
5.2 ROUTING METRICS
● The routing metric is the driving force
behind routing
◦ Hops
◦ Number of Retransmissions
Location and Geographic Vicinity
5.2.2 Hops
5.2.3 Number of Retransmissions
Delivery Delay
5.3 ROUTING PROTOCOLS
● A routing protocol is an algorithm, which defines how
exactly to route the packet from the source to the
destination.
● It uses one or even more of the previous metrics to
evaluate the network conditions and to decide what
to do the main routing
● Routing protocol requirements for WSNs:
◦ Energy efficient : Protocols need to be able to cope
with node sleep and to have little overhead for
route discovery and management.
◦ Flexible : Protocols must be able to cope with
nodes entering or exiting the network (e.g., dead
nodes or new nodes) and with changing link
conditions
5.3 ROUTING PROTOCOLS
● Routing Protocols:
● Full-Network Broadcast,
● Location-Based Routing,
● Directed Diffusion,
● Collection Tree Protocol
5.3 ROUTING PROTOCOLS
● Controlled full-network broadcast sends a
single packet from one source to all other
nodes of the network. It is guaranteed that
it will stop once all nodes receive the
packet.
● ⇒ Location-based routing selects next hops
from a single source to a single destination
by evaluating the geographic distance
between the next hops and the final
destination. Sometimes it enters a dead
end, which needs to be solved via face
routing.
5.3 ROUTING PROTOCOLS
● Directed diffusion explores an alternative
routing approach, where there are no real
destinations for the packets but interests. Data
is routed towards these interests and eventually
arrive at the interested destination(s).
● CTP (Collection Tree Protocol) is the most often
protocol used in real world applications. It
builds a tree rooted at the sink and connects all
nodes with the sink. The data gets collected
from all nodes at the sink.
● ⇒ Zigbee is a (industrial) standard protocol
that is less flexible than CTP.
QUESTIONS
THANK YOU
 RANGE BASED DISTANCE ESTIMATION

Received Signal Strength (RSS) techniques measure the power of the

signal at the receiver. Based on the known transmit power, the
respective propagation loss can be calculated. Theoretical or empirical
models are used to translate this loss into a distance estimate. This
method has been used mainly for RF signals.

Friis Free Space Equation

Note: The Friis space equation above does not consider losses
 RANGE BASED DISTANCE ESTIMATION

• Time based methods (ToA, TDoA) record the time-of-arrival (ToA) or

time-difference-of-arrival (TDoA).The propagation time can be directly
translated into distance, based on the known signal propagation speed.
These methods can be applied to many different signals, such as RF,
acoustic, infrared and ultrasound.

• Angle-of-Arrival (AoA) systems estimate the angle at which signals are

received and use simple geometric relationships to calculate node
positions.
 Anchor Nodes Method

Anchor Nodes: These are nodes that know their coordinates a priori
and are used to calculate global coordinates in Anchor-based systems

1. Determine the distance between unknown and anchor nodes

(Sum-dist, DV-hop and Euclidean)

2. Derive the position of each node from its anchor distances

(Lateration and Min-max)

3. Refine the node positions using information about the range to,
and positions of neighbouring nodes
 REFERENCES

K. Langendoen and N. Reijers “Distributed Localization in Wireless Sensor Networks: A Quantitative

Comparison” Computer Networks Vol. 43 Issue 4 Pg 500—518. 2003

Moaveni-Nejad, K. and Li, X.-Y. Path Exposure, Target Location, Classification and Tracking in Sensor Networks,
in Handbook of Sensor Networks: Algorithms and Architectures (ed I. Stojmenović), John Wiley & Sons, Inc.
2005

D. Niculescu and B. Nath, “Ad hoc positioning system (APS),” in Proceedings of GLOBECOMM, November
2001.

R. Severino and M. Alves “On a Test-bed Application for the ART-WiSe Framework” Technical Report,
November 2006 www.hurray.isep.ipp.pt website visited November 15, 2011

Boukerche, E. F. Nakamura and A.A.F. Loureiro “Algorithms For Wireless Sensor Networks: Present And Future”
in Algorithms and Protocols for Wireless Sensor Networks, John Wiley & Sons Inc. 2009

L. Hu, and D. Evans, “Localization for Mobile Sensor Networks,” in Proceeding of Tenth Annual International
Conference on Mobile Computing and Networking (MobiCom 2004), October 2004

A. Savvides, H. Park, M.Srivastava, “The bits and flops of the N-hop multilateration primitive for node
localization problems”, in First ACM International Workshop on Wireless Sensor Networks and Application
(WSNA), Atlanta, GA, 2002, pp. 112-121.