Tracking moving devices with the cricket location system
Proceedings of the 2nd international conference on Mobile systems, applications, and services
Sextant: a unified node and event localization framework using non-convex constraints
Proceedings of the 6th ACM international symposium on Mobile ad hoc networking and computing
Probabilistic region-based localization for wireless networks
ACM SIGMOBILE Mobile Computing and Communications Review
WirelessHART: Applying Wireless Technology in Real-Time Industrial Process Control
RTAS '08 Proceedings of the 2008 IEEE Real-Time and Embedded Technology and Applications Symposium
A Location-Determination Application in WirelessHART
RTCSA '09 Proceedings of the 2009 15th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications
Adaptive Location Tracking by Kalman Filter in Wireless Sensor Networks
WIMOB '09 Proceedings of the 2009 IEEE International Conference on Wireless and Mobile Computing, Networking and Communications
Reliable and Real-Time Communication in Industrial Wireless Mesh Networks
RTAS '11 Proceedings of the 2011 17th IEEE Real-Time and Embedded Technology and Applications Symposium
HartFi: an energy-efficient localization system
Proceedings of the 2nd ACM SIGCOMM workshop on Green networking
Hybrid TDOA/AOA mobile user location for wideband CDMA cellular systems
IEEE Transactions on Wireless Communications
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Localization in wireless sensor networks is an important functionality that is required for tracking personnel and assets in industrial environments, especially for emergency response. Current commercial localization systems such as GPS suffer from the limitations of either high cost or low availability in many situations (e.g., indoor environments that exclude direct line-of-sight signal reception). The development of industrial wireless sensor networks such as WirelessHART provides an alternative. In this article, we present the design and implementation of ColLoc: a collaborative location and tracking system on WirelessHART as an industrially viable solution. This solution is built upon several technological advances. First, ColLoc adds the roaming functionality to WirelessHART and thus provides a means for keeping mobile WirelessHART devices connected to the network. Second, ColLoc employs a collaborative framework to integrate different types of distance measurements into the location estimation algorithm by weighing them according to their precision levels. ColLoc adopts several novel techniques to improve distance estimation accuracy and decreases the RSSI presurvey cost. These techniques include introducing distance error range constraints to the measurements, judiciously selecting the initial point in location estimation and online updating the signal propagation models in the anchor nodes, integrating Extended Kalman Filter (EKF) with trilateration to track moving objects. Our implementation of ColLoc can be applied to any WirelessHART-conforming network because no modification is needed on the WirelessHART field devices. We have implemented a complete ColLoc system to validate both the design and the effectiveness of our localization algorithm. Our experiments show that the mobile device never drops out of the WirelessHART network while moving around; with the help of even one dependable anchor, using RSSI can yield at least 75% of distance errors below 5 meters, which is quite acceptable for many typical industrial automation applications.