Scalable network localization
Name
1011358388-MIT.pdf
Description
Full printable version
Size
5.5 MB
Format
Adobe PDF
Checksum (MD5)
54115513e73192ada7f61d6d8236a3da
Author(s)
Teague, Bryan (Bryan Andrew)
Advisor(s)
Moe Z. Win.
Date Issued
2017
Publisher
Massachusetts Institute of Technology
Abstract
This thesis introduces the Peregrine system, the first known real-time cooperative 3D wireless localization network. The Peregrine system comprises two major components: a hardware testbed; and a suite of distributed real-time algorithms to solve the highly interrelated problems of Node Prioritization, Node Activation, and Node Localization. Each node in the hardware testbed is a low-cost business card-sized device, made up of a microprocessor, a commercially available ultra-wideband (UWB) radio, and a small battery for portability. The algorithmic portion of the Peregrine system leverages recent research in the area of wireless network localization (WNL). Node Prioritization selects the best neighbor nodes for localization by solving a convex optimization problem that uses the squared position error bound (SPEB) as an objective function. Node Activation controls channel access through the calculation of a optimal binary activation probability. Node Localization is developed in the context of a globally optimum Bayesian estimation problem and solved by means of the sigma point belief propagation (SPBP) algorithm. SPBP calculates accurate position estimates from UWB range measurements by enabling spatial and temporal cooperation. The overall system performance and the impact of each algorithmic component is validated through indoor localization experiments. The results confirm that Peregrine is reliable and scalable while maintaining decimeter level position accuracy indoors.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2017.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 69-73).
Subjects
Aeronautics and Astronautics.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.
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