Neal Patwari

Locating the nodes: cooperative localization in wireless sensor networks

Accurate and low-cost sensor localization is a critical requirement for the deployment of wireless sensor networks in a wide variety of applications. In cooperative localization, sensors work together in a peer-to-peer manner to make measurements and then forms a map of the network. Various application requirements influence the design of sensor localization systems. In this article, the authors describe the measurement-based statistical models useful to describe time-of-arrival (TOA), angle-of-arrival (AOA), and received-signal-strength (RSS) measurements in wireless sensor networks. Wideband and ultra-wideband (UWB) measurements, and RF and acoustic media are also discussed. Using the models, the authors have shown the calculation of a Cramer-Rao bound (CRB) on the location estimation precision possible for a given set of measurements. The article briefly surveys a large and growing body of sensor localization algorithms. This article is intended to emphasize the basic statistical signal processing background necessary to understand the state-of-the-art and to make progress in the new and largely open areas of sensor network localization research.

Relative location estimation in wireless sensor networks

Self-configuration in wireless sensor networks is a general class of estimation problems that we study via the Cramer-Rao bound (CRB). Specifically, we consider sensor location estimation when sensors measure received signal strength (RSS) or time-of-arrival (TOA) between themselves and neighboring sensors. A small fraction of sensors in the network have a known location, whereas the remaining locations must be estimated. We derive CRBs and maximum-likelihood estimators (MLEs) under Gaussian and log-normal models for the TOA and RSS measurements, respectively. An extensive TOA and RSS measurement campaign in an indoor office area illustrates MLE performance. Finally, relative location estimation algorithms are implemented in a wireless sensor network testbed and deployed in indoor and outdoor environments. The measurements and testbed experiments demonstrate 1-m RMS location errors using TOA, and 1- to 2-m RMS location errors using RSS.

Distributed weighted-multidimensional scaling for node localization in sensor networks

Accurate, distributed localization algorithms are needed for a wide variety of wireless sensor network applications. This article introduces a scalable, distributed weighted-multidimensional scaling (dwMDS) algorithm that adaptively emphasizes the most accurate range measurements and naturally accounts for communication constraints within the sensor network. Each node adaptively chooses a neighborhood of sensors, updates its position estimate by minimizing a local cost function and then passes this update to neighboring sensors. Derived bounds on communication requirements provide insight on the energy efficiency of the proposed distributed method versus a centralized approach. For received signal-strength (RSS) based range measurements, we demonstrate via simulation that location estimates are nearly unbiased with variance close to the Cramér-Rao lower bound. Further, RSS and time-of-arrival (TOA) channel measurements are used to demonstrate performance as good as the centralized maximum-likelihood estimator (MLE) in a real-world sensor network.

Radio Tomographic Imaging with Wireless Networks

Radio Tomographic Imaging (RTI) is an emerging technology for imaging the attenuation caused by physical objects in wireless networks. This paper presents a linear model for using received signal strength (RSS) measurements to obtain images of moving objects. Noise models are investigated based on real measurements of a deployed RTI system. Mean-squared error (MSE) bounds on image accuracy are derived, which are used to calculate the accuracy of an RTI system for a given node geometry. The ill-posedness of RTI is discussed, and Tikhonov regularization is used to derive an image estimator. Experimental results of an RTI experiment with 28 nodes deployed around a 441 square foot area are presented.

See-Through Walls: Motion Tracking Using Variance-Based Radio Tomography Networks

This paper presents a new method for imaging, localizing, and tracking motion behind walls in real time. The method takes advantage of the motion-induced variance of received signal strength measurements made in a wireless peer-to-peer network. Using a multipath channel model, we show that the signal strength on a wireless link is largely dependent on the power contained in multipath components that travel through space containing moving objects. A statistical model relating variance to spatial locations of movement is presented and used as a framework for the estimation of a motion image. From the motion image, the Kalman filter is applied to recursively track the coordinates of a moving target. Experimental results for a 34-node through-wall imaging and tracking system over a 780 square foot area are presented.

On the effectiveness of secret key extraction from wireless signal strength in real environments

We evaluate the effectiveness of secret key extraction, for private communication between two wireless devices, from the received signal strength (RSS) variations on the wireless channel between the two devices. We use real world measurements of RSS in a variety of environments and settings. The results from our experiments with 802.11-based laptops show that in certain environments, due to lack of variations in the wireless channel, the extracted bits have very low entropy making these bits unsuitable for a secret key, an adversary can cause predictable key generation in these static environments, and in dynamic scenarios where the two devices are mobile, and/or where there is a significant movement in the environment, high entropy bits are obtained fairly quickly. Building on the strengths of existing secret key extraction approaches, we develop an environment adaptive secret key generation scheme that uses an adaptive lossy quantizer in conjunction with Cascade-based information reconciliation and privacy amplification. Our measurements show that our scheme, in comparison to the existing ones that we evaluate, performs the best in terms of generating high entropy bits at a high bit rate. The secret key bit streams generated by our scheme also pass the randomness tests of the NIST test suite that we conduct. We also build and evaluate the performance of secret key extraction using small, low-power, hand-held devices-Google Nexus One phones-that are equipped 802.11 wireless network cards. Last, we evaluate secret key extraction in a multiple input multiple output (MIMO)-like sensor network testbed that we create using multiple TelosB sensor nodes. We find that our MIMO-like sensor environment produces prohibitively high bit mismatch, which we address using an iterative distillation stage that we add to the key extraction process. Ultimately, we show that the secret key generation rate is increased when multiple sensors are involved in the key extraction process.

Using proximity and quantized RSS for sensor localization in wireless networks

For wireless sensor networks, received signal strength (RSS) and proximity (also known as connectivity) measurements have been proposed as simple and inexpensive means to estimate range between devices and sensor location. While RSS measurements are recognized to suffer from errors due to the random nature of the fading channel, proximity measurements, ie., knowing only whether or not two devices are in communication range, are often discussed without considering that they are affected by the same fading channel. Proximity measurements are actually just a binary quantization of RSS measurements. We use the Cramér-Rao bound (CRB) to compare the minimal attainable variances of unbiased sensor location estimators for the cases of RSS and proximity measurements. For completeness, we also present the CRB for sensor localization with systems using K-level quantized RSS (QRSS) measurements, of which proximity measurements are the special case: K=2. Examples are presented for the case of one unknown-location sensor, and for the case of a 5 by 5 grid of sensors. These examples show that lower bounds for standard deviation in proximity-based systems are, as a rule of thumb, about 50% higher than the bounds for RSS-based systems. Furthermore, results are presented which show how many bits of quantization are necessary for a QRSS-based system to nearly achieve the bounds of an unquantized RSS system.

Correlated link shadow fading in multi-hop wireless networks

Accurate representation of the physical layer is required for analysis and simulation of multi-hop networking in sensor, ad hoc, and mesh networks. Radio links that are geographically proximate often experience similar environmental shadowing effects and thus have correlated shadowing. This paper presents and analyzes a non-site-specific statistical propagation model which accounts for the correlations that exist in shadow fading between links in multi-hop networks. We describe two measurement campaigns to measure a large number of multi-hop networks in an ensemble of environments. The measurements show statistically significant correlations among shadowing experienced on different links in the network, with correlation coefficients up to 0.33. Finally, we analyze multi-hop paths in three and four node networks using both correlated and independent shadowing models and show that independent shadowing models can underestimate the probability of route failure by a factor of two or greater.

High-Rate Uncorrelated Bit Extraction for Shared Secret Key Generation from Channel Measurements

Secret keys can be generated and shared between two wireless nodes by measuring and encoding radio channel characteristics without ever revealing the secret key to an eavesdropper at a third location. This paper addresses bit extraction, i.e., the extraction of secret key bits from noisy radio channel measurements at two nodes such that the two secret keys reliably agree. Problems include 1) nonsimultaneous directional measurements, 2) correlated bit streams, and 3) low bit rate of secret key generation. This paper introduces high-rate uncorrelated bit extraction (HRUBE), a framework for interpolating, transforming for decorrelation, and encoding channel measurements using a multibit adaptive quantization scheme which allows multiple bits per component. We present an analysis of the probability of bit disagreement in generated secret keys, and we use experimental data to demonstrate the HRUBE scheme and to quantify its experimental performance. As two examples, the implemented HRUBE system can achieve 22 bits per second at a bit disagreement rate of 2.2 percent, or 10 bits per second at a bit disagreement rate of 0.54 percent.

Robust location distinction using temporal link signatures

The ability of a receiver to determine when a transmitter has changed location is important for energy conservation in wireless sensor networks, for physical security of radio-tagged objects, and for wireless network security in detection of replication attacks. In this paper, we propose using a measured temporal link signature to uniquely identify the link between a transmitter and a receiver. When the transmitter changes location, or if an attacker at a different location assumes the identity of the transmitter, the proposed link distinction algorithm reliably detects the change in the physical channel. This detection can be performed at a single receiver or collaboratively by multiple receivers. We record over 9,000 link signatures at different locations and over time to demonstrate that our method significantly increases the detection rate and reduces the false alarm rate, in comparison to existing methods.