Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
6888597 | Pervasive and Mobile Computing | 2018 | 31 Pages |
Abstract
In this paper we propose two algorithms, called Dir and Omni, for precisely localizing terrestrial objects, or more simply sensors, using a drone. Dir is based on the observation that, by using directional antennas, it is possible to precisely localize terrestrial sensors just applying a single trilateration. We extend this approach to the case of a regular omnidirectional antenna and formulate the Omni algorithm. Both Dir and Omni plan a static path for the drone over the deployment area, which includes a set of waypoints where distance measurements between the drone and the sensors are taken. Differently from previously proposed best-effort approaches, our algorithms prove that a guaranteed precision can be achieved by considering a set of waypoints, for each sensor, that are at a distance above a certain threshold and that surround the sensor with a certain layout. We perform extensive simulations to validate the performance of our algorithms. Results show that both approaches provide a comparable localization precision, but Dir exhibits a shorter path compared to Omni, being able to exploit the directional antennas.
Keywords
Related Topics
Physical Sciences and Engineering
Computer Science
Computer Networks and Communications
Authors
Francesco Betti Sorbelli, Sajal K. Das, Cristina M. Pinotti, Simone Silvestri,