Abstract-This paper presents a new method for the 3D localization of an outdoor Wireless Sensor Network (WSN) by using a single flying beacon-node on-board an autonomous helicopter, which is aware of its position thanks to a GPS device. The technique is based on particle filtering and does not require any prior information about the position of the nodes to be estimated. Its structure and stochastic nature allows a distributed computation of the position of the nodes. The paper shows how the method is very suitable for outdoor applications with robotic data-mule systems. The paper includes a section with experiments.
Caballero et al. REF present range-based (which process the RSSI value in each node in order to localize the nodes of a static wireless network) methods for the 3D localization of an outdoor WSN by using a single flying beaconnode on-board an autonomous helicopter.
A particle filtering method for wireless sensor network localization with an aerial robot beacon
2008 IEEE International Conference on Robotics and Automation
2008 IEEE International Conference on Robotics and Automation
Engineering Computer Science