Fundamentals of statistical signal processing: estimation theory
Fundamentals of statistical signal processing: estimation theory
System architecture directions for networked sensors
ASPLOS IX Proceedings of the ninth international conference on Architectural support for programming languages and operating systems
The nesC language: A holistic approach to networked embedded systems
PLDI '03 Proceedings of the ACM SIGPLAN 2003 conference on Programming language design and implementation
Radio interferometric geolocation
Proceedings of the 3rd international conference on Embedded networked sensor systems
Robomote: enabling mobility in sensor networks
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
Design of a wireless sensor network platform for detecting rare, random, and ephemeral events
IPSN '05 Proceedings of the 4th international symposium on Information processing in sensor networks
Wireless sensor network localization techniques
Computer Networks: The International Journal of Computer and Telecommunications Networking
Radio interferometric tracking of mobile wireless nodes
Proceedings of the 5th international conference on Mobile systems, applications and services
Tracking mobile nodes using RF Doppler shifts
Proceedings of the 5th international conference on Embedded networked sensor systems
Mobile sensor localization and navigation using RF doppler shifts
Proceedings of the first ACM international workshop on Mobile entity localization and tracking in GPS-less environments
RAGOBOT: a new platform for wireless mobile sensor networks
DCOSS'05 Proceedings of the First IEEE international conference on Distributed Computing in Sensor Systems
RF doppler shift-based mobile sensor tracking and navigation
ACM Transactions on Sensor Networks (TOSN)
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Mobile sensors require periodic position measurements for navigation around the sensing region. Such information is often obtained using GPS or onboard sensors such as optical encoders. However, GPS is not reliable in all environments, and odometry accrues error over time. Although several localization techniques exist for wireless sensor networks, they are typically time consuming, resource intensive, and/or require expensive hardware, all of which are undesirable for lightweight mobile nodes. We propose a technique for obtaining angle-of-arrival information that uses the wheel encoder data from the mobile sensor, and the RF Doppler-shift observed by stationary nodes. These sensor data are used to determine the angular separation between stationary beacons, which can be used for navigation. Our experimental results demonstrate that using this technique, a robot is able to determine angular separation between four pairs of sensors in a 40 × 40 meter sensing region with an average error of 0.28 radian.