Study on Range-Based Node Localization Method of Internet of Vehicles

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1 JOURNAL OF SIMULATION, VOL. 5, NO., My Study o Rge-Bsed Node Locliztio Method of Iteret of Vehicles Xioju Liu Huggg Norml Uiversity, Huggg, Chi Emil: whutliuxioju@6.com Jiyu Wg Huggg Norml Uiversity, Huggg, Chi Emil: Astrct Iteret of Vehicles (IoV) hs ee cosidered to e importt rch which is most likely the first rekthrough i the pplictio of Iteret of Thigs (IoT), d hs ecome the focl poit of reserch. Amog them, the locliztio d the loctio-wre of vehicles re key techologies of the IoV. These two techologies ot oly is relted to vehicle security, ut lso ffected the prospects for the developmet of IoV. First, the stdrds of evlutio o ode locliztio method of IoV hve ee preseted, d rge-sed odes loctio techologies of IoV hve ee focused, d the lgorithm d pplictios i IoV hve ee discussed. Filly, i the comprehesive lysis of existig reserch results t the sme time, we coclude the pper y elortig the future reserch directios o the IoV. Idex Terms iteret of vehicles, locliztio method, rge-sed I. INTRODUCTION Iteret of Vehicles (IoV), the vehicle odes d exchge dt must e ssocited with the positio, therefore, must tke certi mechisms d lgorithms to chieve rel-time positioig d loctio wreess etwee odes o the vehicle ode, d the estlishmet of close ties etwee the vehicle d the loctio of the implemettio, moitorig, vehicle trckig d positioig, so s to relize the dymic mgemet d cotrol etwee the vehicles. Metioed vehicle positioig stellite positioig, we first thought (such s GPS or Beidou). However, the source pplictio i vehicle vigtio d oject trckig, the positioig ccurcy, respose time d cotrollility re ule to dpt to the pplictio requiremets of vehicle etworkig. At preset, fesile wy is to let the city side of the rod trffic. RFID reder, video cmer d so o the rod side uit (RSU) to oti ccurte loctio iformtio through stellite positioig, s the chor odes i the etwork to provide loctio iformtio source, ruig o the rod vehicles with the help of RSU positioig [-]. At preset, there re mily sed o rge-sed techology d the use of rgefree techology i two wys to chieve positioig. Bsed o systemtic lysis of wireless sesor etwork (WSN) sed o the existig chievemets i relted fields [4-6], the etwork ccordig to the chrcteristics d requiremets of Iteret of Vehicles( IoV), itroduces the positioig techology of cr etworkig, d mde systemtic lysis [7]. At the sme time, put forwrd the mi evlutio idex of cr etworkig reserch ivolves the study, comied with the give the reserch sttus of vehicle etworkig techology is the tred of developmet. II. BACKGROUND A. The sic cocept Kowledge i sesor etworks, i order to chieve positioig, odes rdomly spred mily two: Beco ode d Ukow ode. Usully kow its positio of ode sid to Beco odes d Beco odes c e through crryig the existig positioig equipmet d other mes to oti its exct positio, while the other odes re clled for Ukow odes, wireless sesor etworks i CITIC mrk ode oly ccout for smll proportio. Ukow odes d Beco odes s poit of referece, through the loctio iformtio of Beco odes to determie its positio. The odes of the sesor etwork structure s show i Fig. [8]. Figure. Beco odes d ukow odes of wireless sesor etwork I Fig., the etire sesor etwork cosists of four eco odes d lrge umer of ukow ode compositios. Beco ode B to represet, it i the etwork s whole ccouted for less proportio. Ukow ode u to represet, ukow odes y roud the eco odes or hs chieved self-locliztio of ukow ode through certi lgorithm to chieve self-

2 68 JOURNAL OF SIMULATION, VOL. 5, NO., My 07 locliztio. Here re some of the commoly used terms i wireless sesor etworks: () Neighor Nodes: odes tht c commuicte directly with the other odes without hvig to go through other odes; () Hop Cout: two to chieve the commuictio etwee the odes of the miimum umer of hops required for the totl umer of hops; () Coectivity: the umer of eighor odes owed y ode; (4) Hop Distce: the sum of the miimum hop distce etwee two odes; (5) Receivig Sigl Propgtio Time Differece (Time Differece of Arrivl,TDOA): i the process of sigl trsmissio, issued t the sme time, two differet frequecy sigls rech the sme destitio whe ecuse of the time differece cused y differet trsmissio speeds. (6) Time of Arrivl (TOA): the time required for the propgtio of the sigl t two differet odes; (7) Roud-trip Time of Flight (RTOF): the sigl from oe ode to other ode ck to the time ck; (8) Agle of Arrivl (AOA): the gle etwee the ode's ow xis d the received sigl; (9) Received Sig Stregth Idictor (RSSI): wireless sigl to rech the stregth vlue of the sesor odes. B. The ode loctio techology performce evlutio stdrd I the wireless sesor etwork (WSN) positioig techology, differet locliztio lgorithm hs differet ifluece o positioig results, usully hs the followig severl idictors to mesure [9]: Positiol Accurcy: positio precisio is refers to the sptil loctio iformtio (usully the coordites) proximity etwee its true loctio, it is ledig idictor of mesurig sesor etwork locliztio, oly rech certi positio precisio of locliztio lgorithm is rel d effective. Effective Rge of Oriettio: positioig system c locte Effective rge. To stisfy most of the odes i WSN c e positioig, oly covers wide rge of ode loctio to e meigful. Node Desity: refers to the spred of sesor Node Desity i terms of etwork odes. I WSN ode desity hd gret ifluece o the performce of the positioig, usully Node Desity high positioig precisio will e higher d higher, the opposite will reduce Positiol Accurcy. I view of the differet locliztio lgorithm i WSN ode desity is ot required for the sme, the performce of the sesor odes d the price lso determies the ode of the seedig desity. Desity of Beco Node: Desity of Beco Node refers to the Beco odes i the proportio i the WSN. Beco ode hs its ow positioig fuctio, the price is more expesive, could ot sow lrge re, its ode determies the positioig precisio of the high d low desity. Fult Tolerce d Adptility: refers to the soclled fult-tolerce of the presece of Fult system will ot fil, the chrcteristics of c still work ormlly. Fult Tolerce is Fult how should the Fult, to e exct d ot let Error. Adptility c e thought of s c djust itself ccordig to evirometl chges c itelliget fetures of feedck cotrol system, so tht the system c work i ccordce with the stdrds of some settig i the optiml stte. Security: Security is refers to the system to legitimte users of respose d to resist the illegl request, to protect themselves from the exterl ifluece d the ility to ttck. WSN usully work i the re of the physicl eviromet is more complicted, positioig system vulerle to evirometl or m-mde destructio d ttcks, which cot rech the idel wireless commuictio eviromet to chieve the positioig of the effect, therefore must hve very strog security positioig system d lgorithm. Power Dissiptio: refers to the Power loss of Power cosumptio, Power cosumptio i the process of WSN desig hs lwys ee oe of the mi spects i its pplictio. Limited due to the eergy of the sesor odes d it is ot esy to get, so we eed the whole WSN c with less eergy cosumptio d high efficiecy of eergy utiliztio to implemet security positioig is the first questio fced y the curret reserch. Cost d Cosidertio: the cost of loctio lgorithm icludes time cost, cpitl cost d spce cost. Uder the premise of esurig the ccurcy of positioig, the positioig system should e the miimum cost, such s the mout of computtio required, the mout of commuictio, storge spce, etc. Ⅲ. LOCATION ALGORITHM BASED ON DISTANCE MEASUREMENT The positioig lgorithm sed o distce mesuremet to chieve more complex, first through TOA (Time of Arrivl), TDOA (Time Differece of Arrivl), AOA (Agle of Arrivl), RSSI (Received Sig Stregth Idictor) d solute distce rgig techology commoly used to mesure ech ukow ode d eco ode vlues, this stge is lso clled fter the ed of the rgig stge; rgig of positioig (coordite) stge, mely the use of the ode rgig stge distce or directio prmeters to clculte the loctio of the ukow ode, durig which the commoly used lgorithm: three edge mesuremet positioig method (Triltertio) [0], multilterl locliztio method of trigultio method (trigultio) [], mximum likelihood estimtio [] (Mximum Likelihood Method) d gle positioig method (Goiometry) []. Followig this thesis lyzed i two phses: A. Rgig lgorithm lysis. TOA is ccordig to the sigl propgtio time clcultio is mesured etwee the ode distce. TOA lgorithm lthough the positioig precisio is high, ut the lgorithm requires odes precise sychroiztio

3 JOURNAL OF SIMULATION, VOL. 5, NO., My usig complex, the hrdwre requiremets re too high d therefore less suitle to the pplictio of wireless sesor etwork locliztio. The TDOA is formed o the sis of the TOA lgorithm. I this lgorithm, usig two kids of wireless sigl trsmittig ode d differet frequecy iformtio to sed group of the sme re specified, ecuse the trsmissio speed of the two sigls re differet, so the rrivl time will e differet ccordig to the receivig ode. The time differece d two kids of sigl trsmissio speed c e clculted etwee the receivig ode d trsmittig ode distce vlue. This method c get the ccurte positioig i NLOS coditios. But the requiremets of sesor odes re equipped with RF trsceiver d ultrsoic wve trsceiver, thus icresig the cost. Ad the sigl is esily ffected y the eviromet pplicle occsios, sigle. TDOA method is pplicle to the lie of sight eviromet, ostcles i the NLOS eviromet will e reflected o the coustic wve refrctio d diffrctio, which would icrese the ultrsoic trsmissio time, produced lot of errors, d ultimtely ffect the ccurcy of the positioig. AOA is through Trigultio clculte the loctio. I the AOA lgorithm, ukow odes first to clculted with respect to referece ode of the zimuth gle, which mkes the lgorithm positioig performce i complex electromgetic eviromet is very poor, ut lso improves the eergy, which evetully led to the lifetime of the etwork is shorteed. The WSN with low cost, the gol of low eergy cosumptio cotrry, so the mesuremet method of prcticlity is very low. RSSI is usig the chel tteutio model to relize the fuctio of positioig odes ccordig to the received sigl stregth. The regulrity of RSSI vlue is ot strog, so there is i the mesuremet whe the error is lrge, so the eed for multiple chor odes d positio, which requires lrge umer of chor odes. I prcticl pplictio, sigl will ievitly ecouter iterferece durig trsmissio, reflectio, sorptio d other effects, which gretly reduce the positioig ccurcy. At preset, the RSSI vlue rgig techology c e divided ito two kids: oe is sed o the method of pretestig of evirometl iformtio, mely i the lortory efore the strt of the tretmet side re for lrge vlues of RSSI test tht will e differet vlue sved to the dtse, the the query d cll i the lortory. Aother is the method does ot require pretestig of evirometl iformtio, such s hyperolic model, distriuted itertive lgorithm, d comied with the dew floodig is itroduced RSSI mechism of HCRL (hop-cout-rtio sed locliztio) lgorithm. PDOA(Phse differece of rrivl) is mesured y mesurig the phse differece of the received sigl, d the sigl trsmissio of the roud-trip time, d the clculte the distce etwee the sigl. NFER(Ner-Field Electromgetic Rgig) er field electromgetic distce, is mesured y the phse differece etwee the er field d the mgetic field to mesure the distce. B. Positioig stge lgorithm lysis. Triltertio through three kow coordites of eco odes d the three ecos to ukow odes of distce iformtio, ccordig to the two-dimesiol sptil distce formul estlished equtios d lieriztio method is used to solve the ukow ode loctio iformtio. As show i Fig., ssumig tht there re three chor odes B, C, to prticipte i positioig, d their coordites re ( x, y ) ( x, y ) ( x, y ). Figure. Triltertio Hypothesis three chor odes hve ee mesured y te rry hve ode D sigl directio of rrivl, fter determiig the zimuth c e clculted gle the ADB, ADC gle, BDC gle size. Node A, B d proposed ADB c determie the oly roud O, d O ceter coordites ( x, y ) d rdius r, which A O B gle = PI ws ADB. Circle ceter coordites d rdius c e clculted y the followig Eq. : ( x x ) ( y y ) r ( x x ) ( y y ) r ( x x ) ( y y ) r r cos AOB Similrly, we c clculte the ceter of O, O coordite, d rdius r, r the triltertio clculted ode D coordites ( x, y ), mely Eq. : c c () ( x x ) y y r () ( x x) y y r ( x x) y y r The coordites of the D (Eq. ) of the ode to e mesured c e determied y the Eq.: x ( x x ) ( y y ) x x y y d d x ( x x ) ( y y ) x x y y d d ()

4 70 JOURNAL OF SIMULATION, VOL. 5, NO., My 07 Multiltertio kow more th three eco odes coordite iformtio d eco ode to the ukow ode distce iformtio, usig the distce formul etwee two poits c e clculted the distce etwee ukow odes d eco odes. Filly, y usig the LS (Lest Squre), MLE(Mximum Likelihood Estimtio) or MMSE(Miimum Me Squre Error) d for the coordites of the ukow odes. Trigultio is the ukow odes of the receiver te rry to mesure peripherl eco sigls set y the icidece gle iformtio d the gle iformtio d the eco odes coordite iformtio. Accordig to the coordites of the Triltertio clculte the ukow ode. Mximum Likelihood Method priciple s show i Fig.. Figure. 4 D Mximum Likelihood Method Kow i the lgorithm,,,... The coordites of d other eco odes re: ( x, y ) ( x, y) ( x, y ) ( x, ) y. They re the distce to ukow ode D, respectively: d d d d, ssumig tht the coordites of the ukow ode D re s follows Eq.4: ( x x) ( y y) d ( x x) ( y y) d (4) Strtig from the first equtio mius the lst Eq.5:: x X y (8) By usig the mximum likelihood estimtio method or the lest squre method, the coordites of D c e estimted s Eq.9: ^ ( T T X A A) A (9) Ⅳ. CONCLUSION The Iteret of Vehicles is reserch hotspot i recet yers d focus o positioig techology d lrge umer of lgorithms re costtly emergig, however lrge umer of existig locliztio lgorithms re improved for typicl locliztio lgorithm sic positioig priciple. Bsed o pplictio or improvemet is lso kid of iovtio, the iovtio of ides d methods of etwork positioig techology i the Iteret of Vehicles is worth lerig, locliztio method sed o rgig techology lthough the error is smll, ut there re some cotrdictios etwee the rpid respose time d vehicle positioig efficiecy reltively low requiremets of etwork pplictio. Although the Iteret of Vehicles is ew cocept d pplictio, ut the relted theoreticl reserch d techology pplictio c e o the sis of existig chievemets deeply d iovtio. However, t preset, the reserch o rge-sed ode locliztio method of Iteret of vehicles is still t the iitil stge, so there re lot of prolems to e solved d ukow prolems to study. ACKNOWLEDGMENT The project ws supported y the Scietific Fud Project of Huggg Norml Uiversity (Grt No. 0660). the project of excellet ICT egieer triig progrm i Huggg Norml Uiversity (Grt No. 04zy04), d the project of zxfz06a04 i Huggg Norml Uiversity. x x ( x x ) x y y ( y y) y d d x x ( x x ) x y y ( y y) y d d (5) Eq. 5 c e expressed s: AX, i which: A, X,, s the followig Eq. 6 to Eq.8 s show: ( xx ) ( y y) A ( x x ) ( y y) x x y y d d x x y y d d (6) (7) REFERENCES [] AGRE J, CLARE L. A itegrted rchitecture for coopertive sesig etworks [J]. IEEE Computer Mgzie, 000,(5): [] Zhg D,Zho C, Lig Y,et l. A ew medium ccess cotrol protocol sed o perceived dt reliility d sptil correltio i wireless sesor etwork [J].Computers & Electricl Egieerig. 0, 8():694~70. [] Zhg D,Li G,Zheg K,et l. A Eergy-Blced Routig Method Bsed o Forwrd-Awre Fctor for Wireless Sesor Networks [J]. Idustril Iformtics,IEEE Trsctios o,04,0():766~77. [4] Shg Y,Rumi W,Zhg Y etc. Locliztio from mere eormeetivity [J]. Ad Hoc Networkig & Computer Apolis: ACM Press,00.0~. [5] Estri D,Govid R,Heidem J,et l. Next cetury chlleges:sclle coorditio i sesor etworks [C]//Proceedigs of the 5th ul ACM/IEEE

5 JOURNAL OF SIMULATION, VOL. 5, NO., My 07 7 itertiol coferece o Moile computig d etworkig.acm,999.6~70. [6] Hofm-Wellehof B,Lichteegger H,Collis J. Glol Positioig System.Theory d Prctice [J].Glol Positioig System.Theory d prctice,y Hofm- Wellehof,B. Lichteegger,H;Collis,J. Spriger,Wie (Austri),99,47 p. ISBN (USA).99,. [7] Grter. Time dely estimtio for pssive sor sigl Processig,IEEE Trsctio o Acoustics,0,.46~470. [8] W.A Grder,C.K Che. Sigl selective time differece of rrivl estimtio for Pssive loctio.ieee Trsctio o Sigl Processig,0,.68~84. [9] SAMI M L,JAMES M C. Time sychroiztio i wireless sesor etworks:a survey [C].IEEE Southest Co 00 (Southest Co),00. 4~45. [0] Hug Zhoghu, Li Shuhu. The Study o WSN Node Positioig Algorithm Improvemet,0, Itertiol Coferece o Computer Sciece d Service System,pp.48-49,- Aug. 0. [] KANG HSEO G,LEE W J. Error compestio for csssed locliztio system [C]. Proceedigs of the World Cogress o Egieerig d Computer Sciece,009. [] ANDREAS L,CHRISTIAN W. A comprehesive pproch for optimizig To A-locliztio i hrsh idustril eviromets [C].Positio Loctio d Nvigtio Symposium (PLANS),00 IEEE/ION,00.56~55. [] ESTRIN D, GOVINDAN R, HEIDEMANN J. Next cetury chlleges: sclle coorditio i sesor etworks [J]. Proceedigs of the Fifth Aul Itertiol Coferece o Moile Computig d Networks (Moi COM'99),Wshigto, USA, 999: Xioju Liu received the Ph. D. degree i commuictio d iformtio system form the Wuh Uiversity of Huei Provice, Chi. He is Assistt Professor of the Deprtmet of Electroic & Iformtio, Huggg Norml Uiversity, Huei Huggg, Chi. His reserch iterests iclude lso computer etworks, iformtio processig d cloud computig. He hs pulished over 0 ppers i itertiol jourls d cofereces.

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