ISTANBUL TECHNICAL UNIVERSITY INSTITUTE OF INFORMATICS NODE IDENTIFICATION IN IR BAND IMAGES : LOCALIZATION WITH WIRELESS SENSOR NETWORKS M.Sc. Thesis by Deniz SÜMBÜLLÜ Department : Institute of Informatics Programme : Satellite Com. & Remote Sensing Thesis Supervisor: Prof. Dr. Cankut ÖRMECĠ APRIL 2010 ISTANBUL TECHNICAL UNIVERSITY INSTITUTE OF INFORMATICS NODE IDENTIFICATOIN IN IR BAND IMAGES : LOCALIZATION WITH WIRELESS SENSOR NETWORKS M.Sc. Thesis by Deniz SÜMBÜLLÜ (705061014) Date of submission : 26 April 2010 Date of defence examination: 16 June 2010 Supervisor (Chairman) : Prof. Dr. Cankut ÖRMECĠ (ITU) Members of the Examining Committee : Prof. Dr. Nebiye MUSAOĞLU (ITU) Dr. Burak Berk ÜSTÜNDAĞ (ITU) APRIL 2010 ĠSTANBUL TEKNĠK ÜNĠVERSĠTESĠ BĠLĠġĠM ENSTĠTÜSÜ KIZILÖTESĠ BANT GÖRÜNTÜLERĠNDE DÜĞÜM KĠMLĠKLENDĠRME : TELSĠZ SENSOR AĞLARINDA KONUM BULMA YÜKSEK LĠSANS TEZĠ Deniz SÜMBÜLLÜ (705061014) Tezin Enstitüye Verildiği Tarih : 26 Nisan 2010 Tezin Savunulduğu Tarih : 16 Haziran 2010 Tez DanıĢmanı : Prof. Dr. Cankut ÖRMECĠ (ĠTÜ) Diğer Jüri Üyeleri : Prof. Dr. Nebiye MUSAOĞLU (ĠTÜ) Dr. Burak Berk ÜSTÜNDAĞ (ĠTÜ) NĠSAN 2010 FOREWORD I would like to express my deep appreciation and thanks for my advisor. This work is supported by ITU Institute of Informatics. April 2010 Deniz SÜMBÜLLÜ Satellite Com. & Remote Sensing v vi TABLE OF CONTENTS Page ABBREVIATIONS ................................................................................................... ix LIST OF TABLES .................................................................................................... xi SUMMARY .............................................................................................................. xv ÖZET ....................................................................................................................... xvii 1. INTRODUCTION .................................................................................................. 1 1.1 Purpose of the Thesis ......................................................................................... 1 1.2 Background ........................................................................................................ 1 1.3 Hypothesis .......................................................................................................... 2 2. WIRELESS SENSOR NETWORKS ................................................................... 5 2.1 Introduction to Wireless Sensor Networks ......................................................... 5 2.1.1 Early Wireless Networks [2] ....................................................................... 5 2.1.1.1 The ALOHA System[2] ......................................................................... 6 2.1.1.2 The PRNET System [2] .......................................................................... 6 2.1.1.3 Amateur Packet Radio Networks[2] .................................................... 6 2.1.2 Wireless Local Area Networks (WLANs) [2] ............................................ 7 2.1.3 Wireless Personal Area Networks (WPANs) [2] ........................................ 7 2.2 Wireless Sensor Networks – System Overview ................................................. 8 2.3 Key Definitions [24] ......................................................................................... 10 2.4 Research Directions for Wireless Sensor Networks [26] ................................. 12 2.4.1 Tiered Architectures .................................................................................. 12 2.4.2 Routing and In-Network Processing ......................................................... 13 2.4.3 Distributed Signal Processing ................................................................... 13 2.4.4 Storage, Search and Retrieval ................................................................... 13 2.4.5 Actuation ................................................................................................... 14 2.4.6 Simulation, Monitoring, and Debugging .................................................. 14 2.4.7 Security and Privacy ................................................................................. 14 2.4.8 Automatic Localization and Time Synchronization ................................. 15 2.5 Application Domains And Examples For WSN .............................................. 15 2.5.1 Industrial Control and Monitoring [2] ...................................................... 16 2.5.2 Home Automation and Consumer Electronics [2] .................................... 19 2.5.3 Security and Military Sensing [2] ............................................................. 22 2.5.4 Asset Tracking and Supply Chain Management [2] ................................. 24 2.5.5 Intelligent Agriculture and Environmental Sensing [2] ............................ 29 2.5.6 Health Monitoring [2] ............................................................................... 30 3.1.1 Introduction ............................................................................................... 33 3.2 Receiving Signal Strength Indicator (RSSI) .................................................... 33 3.2.1 Analysis of Received Signal Strength Indicator ....................................... 33 3.2.2 IEEE 802.15.4 Standard ............................................................................ 34 3.2.3 Signal Strength Evaluating Methods ......................................................... 35 3.2.4 Parameters on RSSI Based Distance Estimation ...................................... 38 vii 3.3 Time Difference of Arrival (TDOA) ................................................................ 40 3.3.1 Possible Error Sources for TDOA ............................................................ 41 3.3.2 Localization Techniques ........................................................................... 44 3.4 Angle of Arrival ............................................................................................... 45 3.5 Comparison of Localization Methods .............................................................. 50 4. PROPOSED METHOD ....................................................................................... 53 4.1 Infrared Band Images ....................................................................................... 53 4.2 Amplitude filter ................................................................................................ 54 4.3 Further Filtering ............................................................................................... 54 4.4 Applicational Concerns of the Work ................................................................ 59 4.4.1 Visible Area .............................................................................................. 59 4.4.2 Identification of Nodes .............................................................................. 63 4.4.3 Window Size for Moving Nodes .............................................................. 64 4.5 Limitations ....................................................................................................... 66 4.6 Advantages ....................................................................................................... 68 5. CONCLUSION AND RECOMMENDATIONS ............................................... 71 5.1 Application of The Work ................................................................................. 71 REFERENCES ......................................................................................................... 73 CURRICULUM VITAE .......................................................................................... 77 viii ABBREVIATIONS WSN : Wireless Sensor Network RSSI : Received Signal Strength Indicator App : Appendix TDOA : Time Difference of Arrival AOA : Angle of Arrival WLANs : Wireless Local Area Networks WPANs : Wireless Personal Area Networks IEEE : The Institute of Electrical and Electronics Engineers AARS : Army-Amateur Radio System ARRL : American Radio Relay League RF : Radio Frequency ARPANet : Advanced Research Projects Agency DARPA : Defense Advanced Research Projects Agency PRNet : Packet Radio Network CRC : Cyclic Redundancy Checksum TNC : Terminal Node Controler FCC : Federal Communications Commission FSK : Frequency Shift Keying SURAN : Survivable Radio Networks CSMA : Carrier Sense Multiple Access LMSC : LAN/MAN Standard Commitee OFDM : Orthogonal Frequency Division Multiplex DSSS : Direct Sequence Spread Spectrum SWAP : Shared Wireless Access Protocol DECT : Digital European Cordless Telephony ETSI : European Telecommunication Standards Institute FH/TDD : Frequency Hopping/Time Division Duplex HVAC : Heating, Ventilation, and Air-Conditioning MAS : Multi-Agent Systems PDA : Personal Digital Assistant RFID : Radio Frequency Identification RKE : Remote Keyless Entry DCTC : Dynamic Convoy Tree-Based Collaboration ATMS : Authenticated Tracking and Monitoring System GPS : Global Positioning System INMARSAT : International Maritime Satellite BSN : Basic Sensor Nodes CRN : Communication Relay Node DDN : Data Discharge Nodes NCC : Network Control Center HSP : Hop and Skip Protocol ix MEMS : Micro Electro Mechanical Sensor CMOS : Complementary Metal Oxide Semiconductor SMVM : Statistical Mean Value Model DBFM : Distance Between the Fixed-nodes-based Model GM : Gaussian Model NLOS : Non-Line-of-sight VOR : VHS Omni-directional Range x LIST OF TABLES Page Table 1 Comparision of Three Models .....................................................................