A geometrical perspective on localization

Authors:
Stefan O. Dulman;Aline Baggio;Paul J.M. Havinga;Koen G. Langendoen
Affiliations:
University of Twente, Enschede, Netherlands;Delft University of Technology, Delft, Netherlands;Ambient Systems B.V., Enschede, Netherlands;Delft University of Technology, Delft, Netherlands
Venue:
Proceedings of the first ACM international workshop on Mobile entity localization and tracking in GPS-less environments
Year:
2008

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Abstract

A large number of localization algorithms for wireless sensor networks (WSNs) are evaluated against the Cramer-Rao Bound (CRB) as an indicator of how good the algorithm performs. The CRB defines the lower bound on the precision of an unbiased localization estimator. The CRB concept, borrowed from GPS localization, however, does not translate well to WSNs. In this paper, we show in which cases the CRB fails to capture troublesome anchor configurations leading to erroneous lower bounds. We continue with a study on the geometrical configurations of anchors favorable to localization algorithms. We conclude by proposing a metric to characterize the stability of the geometry of a certain anchor topology. Future work will address the combination of geometry and statistical metrics with the goal of obtaining a clear image on localization algorithms boundaries.