期刊名称：International Journal of Distributed Sensor Networks
印刷版ISSN：1550-1329
电子版ISSN：1550-1477
出版年度：2012
卷号：2012
DOI：10.1155/2012/842107
出版社：Hindawi Publishing Corporation
摘要：Over the past decade, wireless sensor networks have
advanced in terms of hardware design, communication protocols,
and resource efficiency. Recently, there has been growing interest
in mobility, and several small-profile sensing devices that control
their own movement have been developed. Unfortunately,
resource constraints inhibit the use of traditional navigation
methods because these typically require bulky, expensive sensors,
substantial memory, and a generous power supply. Therefore,
alternative navigation techniques are required. In this paper, we
present a navigation system implemented entirely on resource-constrained
sensors. Localization is realized using triangulation
in conjunction with radio interferometric angle-of-arrival estimation.
A digital compass is employed to keep the mobile node
on the desired trajectory. We also present a variation of the
approach that uses a Kalman filter to estimate heading without
using the compass. We demonstrate that a resource-constrained
mobile sensor can accurately perform waypoint navigation with
an average position error of 0.95 m.
