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1、APracticalEvaluationofRadioSignalStrengthforRanging-basedLocalizationKaminWhitehouseChrisKarlofDavidCullerwhithoeuse@cvs.irginia.eud{ckarlof,culler}@csb.erkele.yeduComputerScienceDepartmentComputerScienceDepartmentUniversityofVirginiaUniversityofCalifornia,Berkele
2、yRadiosignalstrength(RSS)isnotoriousforbeinganoisysignalthatisdifficulttouseforranging-basedlocalization.Inthisstudy,wedemonstratethatRSScanbeusedtolocalizeamulti-hopsensornetwork,andwequantifytheeffectsofvariousenvironmentalfactorsontheresultinglocalizationerror.W
3、eachieve4.1merrorina49nodenetworkdeployedinahalf-footballfieldsizedarea,demonstratingthatRSSlocalizationcanbeafeasiblealternativetosolutionslikeGPSgiventherightconditions.However,wealsoshowthatthisresultishighlysensitivetosubtleenvironmentalfactorssuchasthegrasshei
4、ght,radioenclosure,andelevationofthenodesfromtheground.I.Introductionfromthegroundandtransmissionpowerwhilecol-lectingRSSdatafromanetworkof25nodes,char-Ranging-basedlocalizationisthetaskofidentifyingacterizingatotalof51differentenvironmentalcom-thepositionsofanetw
5、orkofnodesbasedonestimatesbinations.Thisdataallowsustocharacterizeeachofofthedistancesbetweenthem,calledrangeestimates.theseenvironmentalfactorsintermsofitseffectonInmanyways,radiosignalstrength(RSS)isanidealthreedifferentpropertiesofRSS:noise,coefficientofmodality
6、forrangeestimationinwirelessnetworksbe-attenuation,andeffectiverange.causeRSSinformationcanbeobtainedatnoaddi-Inourlocalizationexperiments,weperformasen-tionalcostwitheachradiomessagesentandreceived.sitivityanalysisofRSS-basedlocalizationagainst35ThesimplicityofRS
7、Sisespeciallyappealingforthedifferentcombinationsofnetworkdensityandenvi-localizationinwirelesssensornetworksbecauseofronmentalfactors.Wecomparetheselocalizationre-theircost,size,andpowerconstraints,despitethefactsultstothoseobtainedusingGPS,whichisthemostthatRSSm
8、ayyieldverynoisyrangeestimates.commoninfrastructure-basedsolutionusedtosolveAmainchallengewithRSSrangingisthattheef-thesensorfieldlocalizationproblem.Wew
