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Sensors 2015, 15(12), 31125-31141;

Adaptive Environmental Source Localization and Tracking with Unknown Permittivity and Path Loss Coefficients

Department of Mechanical and Mechatronics Engineering, University of Waterloo, 200 University Ave W, Waterloo, ON N2L 3G1, Canada
This paper is an extended version of our paper published in Fidan, B.; Umay, I. Adaptive source localization with unknown permittivity and path loss coefficients. In Proceedings of the 2015 IEEE International Conference on Mechatronics, Nagoya, Japan, 6–8 March 2015; pp. 170–175.
Author to whom correspondence should be addressed.
Academic Editors: Felipe Gonzalez Toro and Antonios Tsourdos
Received: 16 August 2015 / Revised: 22 November 2015 / Accepted: 3 December 2015 / Published: 10 December 2015
(This article belongs to the Special Issue UAV Sensors for Environmental Monitoring)
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Accurate signal-source and signal-reflector target localization tasks via mobile sensory units and wireless sensor networks (WSNs), including those for environmental monitoring via sensory UAVs, require precise knowledge of specific signal propagation properties of the environment, which are permittivity and path loss coefficients for the electromagnetic signal case. Thus, accurate estimation of these coefficients has significant importance for the accuracy of location estimates. In this paper, we propose a geometric cooperative technique to instantaneously estimate such coefficients, with details provided for received signal strength (RSS) and time-of-flight (TOF)-based range sensors. The proposed technique is integrated to a recursive least squares (RLS)-based adaptive localization scheme and an adaptive motion control law, to construct adaptive target localization and adaptive target tracking algorithms, respectively, that are robust to uncertainties in aforementioned environmental signal propagation coefficients. The efficiency of the proposed adaptive localization and tracking techniques are both mathematically analysed and verified via simulation experiments. View Full-Text
Keywords: localization; sensor networks; path loss coefficient; RSS; TOF localization; sensor networks; path loss coefficient; RSS; TOF

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Fidan, B.; Umay, I. Adaptive Environmental Source Localization and Tracking with Unknown Permittivity and Path Loss Coefficients. Sensors 2015, 15, 31125-31141.

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