Position information of individual nodes is useful in implementing functions such as routing and querying in ad-hoc networks. Deriving position information by using the capability of the nodes to measure time of arrival (TOA), time difference of arrival (TDOA), angle of arrival (AOA) and signal strength have been used to localize nodes relative to a frame of reference. The nodes in an ad-hoc network can have multiple capabilities and exploiting one or more of the capabilities can improve the quality of positioning. In this paper, we show how AOA capability of the nodes can be used to derive position information. We propose a method for all nodes to determine their orientation and position in an ad-hoc network where only a fraction of the nodes have positioning capabilities, under the assumption that each node has the AOA capability.

/pdf/ad-hoc-positioning-system-aps-using-aoa-a9nzx3n736.pdf

Ad hoc positioning system (APS) using AOA

Many ad hoc network protocols and applications assume the knowledge of geographic location of nodes. The absolute location of each networked node is an assumed fact by most sensor networks which can then present the sensed information on a geographical map. Finding location without the aid of GPS in each node of an ad hoc network is important in cases where GPS is either not accessible, or not practical to use due to power, form factor or line of sight conditions. Location would also enable routing in sufficiently isotropic large networks, without the use of large routing tables. We are proposing APS - a distributed, hop by hop positioning algorithm, that works as an extension of both distance vector routing and GPS positioning in order to provide approximate location for all nodes in a network where only a limited fraction of nodes have self location capability.

/pdf/ad-hoc-positioning-system-aps-3roowtu3q3.pdf

Ad hoc positioning system (APS)

Many ad hoc network protocols and applications assume the knowledge of geographic location of nodes. The absolute position of each networked node is an assumed fact by most sensor networks which can then present the sensed information on a geographical map. Finding position without the aid of GPS in each node of an ad hoc network is important in cases where GPS is either not accessible, or not practical to use due to power, form factor or line of sight conditions. Position would also enable routing in sufficiently isotropic large networks, without the use of large routing tables. We are proposing APS --- a localized, distributed, hop by hop positioning algorithm, that works as an extension of both distance vector routing and GPS positioning in order to provide approximate position for all nodes in a network where only a limited fraction of nodes have self positioning capability.

/pdf/dv-based-positioning-in-ad-hoc-networks-12d026gqcv.pdf

DV Based Positioning in Ad Hoc Networks

We describe a distributed position-based network protocol optimized for minimum energy consumption in mobile wireless networks that support peer-to-peer communications. Given any number of randomly deployed nodes over an area, we illustrate that a simple local optimization scheme executed at each node guarantees strong connectivity of the entire network and attains the global minimum energy solution for stationary networks. Due to its localized nature, this protocol proves to be self-reconfiguring and stays close to the minimum energy solution when applied to mobile networks. Simulation results are used to verify the performance of the protocol.

Minimum energy mobile wireless networks

The technology of hydrodynamic modeling and marine craft motion control systems has progressed greatly in recent years. This timely survey includes the latest tools for analysis and design of advanced guidance, navigation and control systems and presents new material on underwater vehicles and surface vessels. Each section presents numerous case studies and applications, providing a practical understanding of how model-based motion control systems are designed.

/pdf/handbook-of-marine-craft-hydrodynamics-and-motion-control-2qu7epb0pt.pdf

Handbook of Marine Craft Hydrodynamics and Motion Control: Fossen/Handbook of Marine Craft Hydrodynamics and Motion Control

Differential GPS and Integrity Monitoring Differential GPS Pseudolites Wide Area Differential GPS Wide Area Augmentation System Receiver Autonomous Integrity Monitoring Integrated Navigation Systems Integration of GPS and Loran-C GPS and Inertial Integration Receiver Autonomous Integrity Monitoring Availability for GPS Augmented with Barometric Altimeter Aiding and Clock Coasting GPS and Global Navigation Satellite System (GLONASS) GPS Navigation Applications Land Vehicle Navigation and Tracking Marine Applications Applications of the GPS to Air Traffic Control GPS Applications in General Aviation Aircraft Automatic Approach and Landing Using GPS Precision Landing of Aircraft Using Integrity Beacons Spacecraft Attitude Control Using GPS Carrier Phase Special Applications GPS for Precise Time and Time Interval Measurement Surveying with the Global Position System Attitude Determination Geodesy Orbit Determination Test Range Instrumentation.

B. W. Parkinson

Papers

Global Positioning System : Theory and Applications I