AN UNMANNED AERIAL VEHICLE ASSISTED NODE LOCALISATION IN WIRELESS SENSOR

Abdul Aaqil, P.G.S.Aditya, D.Dhanush Kumar| Prof. Kalapraveen Bagadi. | SENSE

Motivation/ Introduction Results
In the last 17 years, India has faced more than 300 natural disasters which
resulted in 76,031 deaths in this millennium, according to the International
Disaster Database(IDD).The estimated damage sustained by India in the last
17 years due to these disasters amounts to USD 63.6 billion, according to the
database. This damage is mainly due to lack of proper surveillance. In addition
disaster management, military surveillance, environmental monitoring,
medical observations, home applications and so on require a system to
monitor.
SCOPE of the Project
The main objective of this project is to do a performance analysis in terms of 1 2

ASEP (Average Symbol Error Probability) versus Average SNR of General-order

Quadrature Amplitude Modulation considering atmospheric turbulence
effects for the different channel models. The Average symbol error
probability for the Log Normal and Gamma Gamma channel models are
derived in terms of the Meijer-G function and the effects of decision distance,
distance between transmitter and receiver and the turbulence conditions are
analyzed. For all the calculations 16 bit QAM (Quadrature Amplitude
Modulation) is used. To further improve the signal quality double generalized
gamma model is implemented.
4
3
Methodology Figure 1: Deployment of 9 ANs, UNs and estimated locations of UNs using
RSSI (ALE = 5.0162 m).
Figure 2: Localization error of each UN with FTANs using RSSI localization
techniques.
Figure 3: UN localization with 9 MAANs using RSSI (ALE = 2.9697).
Figure 4: Localization error of each UN with MAANs using RSSI localization
technique.

Let us consider, in a given two dimensional sensor field, N position aware

anchor nodes and M unknown nodes are deployed. The anchor nodes may
be equipped with GPS modules to known self-location. The positions of nth
anchor node (AN) and mth unknown node (UN) are given as (xn, yn) and (
𝒙 ̃_𝒎,( 𝒚) ̃_𝒎) respectively. The RSSI measurements recorded at the UN is
based on the classic radio-propagation path loss model. The RSSI measured
in dBm in the classical LNSM is given by:
d  Conclusion/ Summary
RSSI [d nm ] dBm  P0 [d 0 ] dBm  10 log10  nm   X 
 d0  Many networking protocol and application require appropriate localization of
sensor nodes because the Quality of Service depends on localization accuracy.
where, P0 is the RSS measured at reference distance d0
dnm is the true distance between mth UN and nth AN In order to improve the localization accuracy and reduce cost of
γ is path loss exponent implementation, we have suggested UAV assisted localization. Node
localization using fixed terrestrial ANs suffers from poor localization accuracy
Xσ is the parameter that represents log-normal shadowing effects
because the Ground to Ground (GG) channel link is not reliable. By contrast,
 P0 [ d 0 ] RSSI [ d nm ]  the mobile anchor deployed in Unmanned Aerial Vehicle (UAV) provides high
 
dˆnm  d 010  10  localization accuracy through reliable Air to Ground (AG) channel link. The
classical techniques are suffering from poor localization accuracy as the
Multilateration: distance measurement is noisy in LNSM. So, localization task is defined as
Let the distance measurements from all ANs to mth UN are given as: optimization based least square localization (OLSL) problem. Since flying
( x1  xm ) 2  ( y1  y m ) 2  dˆ12m 
height of the UAV greatly influence the localization accuracy, we defined a
 least square optimization problem is to optimize the flying height. We used
( x2  xm ) 2  ( y2  y m ) 2  dˆ22m  Differential evolutionary algorithm(DEA) to get the optimized height and thus
 , n  1, 2,..., N
 found the accurate position of unknown nodes.
( x N  xm )  ( y N  y m )  d Nm 
2 2 ˆ 2

To solve this set of equations, it is more convenient to write them as a set Acknowledgments/ References
of linear equations in terms of 𝒙 ̃_𝒎 and ( 𝒚) ̃_𝒎.
2( x1  xN ) xm  2( y1  y N ) ym  rˆNm
2
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