Technical Brief

Pair Selection Analysis in Differential RSSI Based Localization

[+] Author and Article Information
S. M. Mehdi Dehghan

Advanced Robotics and Intelligent Systems Laboratory, CIPC,
School of Electrical and Computer Engineering,
University of Tehran,
Tehran 14395-515, Iran
e-mail: smm.dehghan@ut.ac.ir

Hadi Moradi

Advanced Robotics and Intelligent Systems Laboratory, CIPC,
School of Electrical and Computer Engineering,
University of Tehran,
Tehran 14395-515, Iran;
Intelligent Systems Research Institute,
Sungkyunkwan University,
Suwon, Gyeonggi-do 440-746, South Korea
e-mail: moradih@ut.ac.ir

S. A. Asghar Shahidian

Department of Electrical and Computer Engineering,
Semnan University,
Semnan 35131-19111, Iran
e-mail: SAA_Shahidian@Semnan.ac.ir

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 2, 2014; final manuscript received June 12, 2015; published online August 14, 2015. Assoc. Editor: Jwu-Sheng Hu.

J. Dyn. Sys., Meas., Control 137(11), 114502 (Aug 14, 2015) (5 pages) Paper No: DS-14-1394; doi: 10.1115/1.4031046 History: Received October 02, 2014

Differential received signal strength indicator (DRSSI), in which two separate received signal strength indicator (RSSI) measurements are used to localize an radio frequency (RF) source with unknown transmitted power, has been proposed to eliminate the need for estimating the strength of the transmitted signal in localization. In this paper, the problem of choosing the best pair of measurements, which can lead to close-to-minimum localization error based on Cramer–Rao lower bound (CRLB) analysis, is addressed. The analysis shows that the root mean squared error (RMSE) of localization decreases monotonically with the increase of the angle between two pairing measurements, with respect to the target, up to 180 deg. In other words, it is shown that the best pair of measurements consists of the measurement points which are inline with the target opposing each other. The second best pairing angle is near 135 deg with respect to the target. To practically show the importance of this analysis, several Monte Carlo simulation scenarios were conducted which show that the RMSE of localization would be close-to-minimum using the proposed analysis.

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Fig. 1

The dashed line shows the locus when there is no shadowing disturbance. The gray region shows the locus of the target between two circles with radii correspondent with the variance of shadowing disturbances (a). If the DRSSI is zero with nonzero disturbance, then the locus of the target becomes the region between circles 1 and 2 (b).

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Fig. 2

Relative geometry of the paired waypoints and the target

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Fig. 3

The uncertainty region of localization when (a) equal pairing angle with uniform distribution around the target; (b) equal pairing angle without uniform distribution around the target; and (c) nonequal pairing angles

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Fig. 4

Arrangement of four waypoints in the case that the target is not at the center of the search area

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Fig. 5

RMSE for different pairing angle relative to the estimated location of the target using only one pairing angle

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Fig. 6

RMSE of localization after adding the new pairing angle. The first pairing angle is fixed to 180 deg.



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