e-ISSN: 2455-5703
I. INTRODUCTION
WIRELESS sensor networks (WSNs) have emerged as an gorgeous technology which can consist of large number of cerebral
sensor nodes. With sensing, processing and wireless communicating capabilities.[2] In WSNs, one of important applications is
target tracking, such as vehicle tracking and migration tracking of animals. [3] The sensor nodes collectively monitor the
roaming path of moving targets in the deployed area. Since the sensor nodes are always deployed in an unattended environment,
it is very difficult to replace their battery after the deployment. As a result, energy efficiency is the most critical design issue for
WSNs. In a target tracking application, the sensor nodes which can sense the target at a particular time are kept in active mode
while the remaining nodes are to be retained in inactive mode so as to conserve energy until the target approaches them.
Clustering is an important approach to organize a closely deployed network. The clustering algorithms keep only a portion of
nodes (CHs) active and save the energy for the rest of the nodes. [1].The target will often be detected by the nodes in multiple
clusters at the same time. When all the nodes report their data to the respective CHs, each involved CH has to send the data to the
sink. This way may produce much redundant data that causes unnecessary energy consumption. The data gathering approaches
for clustered WSNs can be categorized into: DL-cluster [5] and MH-cluster [13].In DL-cluster each CH aggregates the sensed
data from its
Cluster Members (CMs) and directly transmits it to the sink, while in MH-cluster a hierarchical CHs model is built and
the data can be aggregated hop by hop through multiple intermediate CHs. These approaches are not efficient for target tracking
because of redundant data transmissions. A simple 5-cluster sensor network is taken as an example in Fig. 1. In Fig. 1(a), CH1,
CH2 and CH3 obtain the sensed data from their CMs and send them to the sink respectively. We can see that there are 3 data
flows from CHs to the sink. In Fig. 1(b), CH1 and CH3 send the aggregated data to CH2 which further aggregates the data.
Therefore, there is only one data flow from CH2 to the sink. However, when the target moves to the position shown in Fig. 1(c),
two data flows are established from CH2 and CH4 to the sink, because CH3 always transmits its data to CH2 and CH5 to CH4. If
we want to change their transmission routes dynamically according to the position of the moving target, a lot of communications
among CHs are needed. It will cause more energy cost and time delay. With these motivations, we propose a coordinated and
adaptive information collecting strategy (CAICS) for target tracking in clustered WSNs. The major objective of CAICS is to
reduce the redundant data transmission and keep a reliable object tracking with minimum energy consumption.
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Fig. 1: State-of-the-art data gathering approach for cluster-based WSNs (a) DL-cluster (b) and (c) ML-cluster
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where Dx_ and Dy_ are deviations along axes X_ and Y _, respectively, and r is the correlation coefficient. Then a new
coordinate system, whose origin is at (x_, y_) and axes are along the direction of the eigenvectors Cov_, is established [16]. In
the new coordinate system, the predicted belief is represented by zero-mean Gaussian density function with covariance,
where 2x and 2y are the largest and smallest eigenvalue of Cov_, respectively. Then, the state uncertainty of the
target can be represented by an ellipse whose major axis and minor axis are 32 x and 32 y [16], respectively, as Fig. 2 shows.
Assuming the measurement error _i is known, and the location (xi , yi ) of node Ni can be denoted by the polar coordinates (i ,
Ri ). Then, the information utility in weighted distance method is defined as Utility(Ni ) = Areaabcd. And we proposed a joint
distance weightedinformation utility measurement to effectively select nodes for tracking mission. It can be represented as
follow,
Where C_AreaNi is the certainty area enclosed by the sight lines of node Ni and the ellipse. C_AreaNi C_AreaNj is
the overlapped area of the certainty area of node Ni and Nj . The smaller the area C_AreaNi C_AreaNj is, the more certainty
by using the nodes information there will be. In order to obtain the joint distance weighted information utility, we just need to
calculate the equation of the sight lines of the sensor node and calculate the certainty area. In this work, each CM has detecting
and tracking states. In the detecting state, it is in the sleep mode most of the time and wakes up for a fraction of time to react to
the control messages from its CH. In the tracking state, a CM keeps active to track the target until the target is out of its sensing
range and the node that has the largest joint information utility is chosen as tracking node. The procedure is continued until
enough tracking nodes are selected.
B. Selection of Aggregation Node
When a target is detected, the sensor nodes around it will be woken up by their CHs and get into the tracking state. All sensor
nodes in the tracking state form a tracking node set D={N 1D,N2D,N3D..NmD}where m is the number of nodes in the tracking
state. Since all nodes in D are in a vicinity area, they can directly communicate with each other. Therefore, AN can be elected by
the internal negotiation of the nodes in D without the participation of any CHs. To achieve load balance the node that has the
most residual energy and consumes the least energy for communication with its CH as well as the other nodes in D is selected as
AN. The pseudo code of the AN selection is shown in Algorithm 1. For each ND i , the residual energy Ei res and
communication cost Eic are converted to a waiting time ti (line 3). More residual energy and less communication cost lead to a
shorter ti. Therefore, the node with the most Ei res and least Eic waits for the shortest time in D. This node first finishes waiting
and is elected as the AN (line 8). It then broadcasts a message finish election to the other nodes that are still waiting (line 9).
These nodes stop waiting and give up the AN election as soon as they receive the message, and send their sensed data to the AN
(line 5 and 6). ti is calculated by the following equation:
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where tmax a design parameter, used to control the waiting time in a reasonable range (0 <ti <tmax). Ei ini is the initial
energy of node ND i .Two nodes might have the same residual energy and communication cost and therefore have the same ti.
To avoid this, a random time tran is added. tran is an order of magnitude smaller than tmax, so that it will not have a large impact
on the value of ti. The AN is dynamically selected according to the changing position of the target. It is assumed that the AN can
obtain the distance to the target (line 17 in Algorithm 1), using some technique, for example, distance measurement by means of
the strength of the detecting signal. If the distance between the AN and the target is larger than a defined threshold dth, the AN
will broadcast a message reselect AN to the other nodes to start the next round of AN election (line 21). In the whole process,
all tracking nodes in D are kept under the control of respective CHs. When they finish the tracking task, their CHs will get them
back to the detecting state.
C. Data Aggregation and Transmission
After AN is selected, it will periodically broadcast the flag message gather_data to the other nodes in D to request sensed data.
When the nodes receive this message, they will wait for a random time before reporting their sensed data toCthe AN, in order to
avoid data collision. Although this random waiting time reduces the possibility of collision, it cannot totally eliminate it. This is
mainly due to the transmission delay of the data packets. An underlying carrier-sense MAC protocol is still needed to mitigate
collision at the MAC level [9]. The sensed data in local area have strong correlations and therefore can be effectively aggregated
by AN.
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In addition, CAICS utilizes local communications with low cost to accelerate data aggregations and to reduce the
number of data packets transmitted over long distances.
Fig. 2 illustrates CAICS using the same example as in Fig. 1. Nd is selected as the AN of the tracking node set D = {Na,
Nb, Nc, Nd }. Then, Na , Nb and Nc send their sensed data to Nd instead of their own CHs. Nd aggregates the received data as
well as its own data into one packet and sends it to CH2. Then, CH2 forwards the aggregated data to the sink. In this example,
there is only one long-distance transmission (from CH2 to the sink). Comparing this example with the aforementioned approach,
it is seen that the nearer to the source node the sensed data can be aggregated, the less long-distance transmission is needed to
transmit to the sink so that both the transmission cost and data collision can be significantly reduced in our approach.
D. Communication among Sensor Node
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The energy saving is highly related to the number clusters involved in the tracking. If the target is detected by sensor
nodes in n clusters, using CAICS there is always one data flow from the AN to the sink, while using DL-cluster and MH-cluster,
in the worst case, there might be n data flows from the cluster heads to the sink. In the simulation, we traced the value of n. Fig. 6
Illustrates the distribution of the value n in the whole tracking process. As shown, in most cases (_ 93%) the target is
detected by sensor nodes in more than one cluster. CAICS can significantly prolong the network lifetime in all cases. For
example, if the lifetime is defined as the time when 10% of nodes die, CAICS achieves lifetime extensions by 857.6% and 85.8%
compared to DL-cluster and MH-cluster, respectively, for scenario 1. Similar lifetime extensions are achieved for the other cases.
The main reasons for the large lifetime extension are twofold: 1) CAICS avoids redundant long-distance transmissions and saves
energy, as shown in Fig. 5; 2) The energy consumption is better balanced because the node with the highest residual energy and
the lowest communication cost is selected as AN. We further investigated the average data transmission delay, which is defined
as the time between the moment a source transmits a packet and the moment the sink receives the packet, averaged over all
source-sink pairs in the two scenarios. The results after 3000s simulation time are shown in Table II. We can see that CAICS has
the lowest data transmission delay because the AN can send the data to its CH without waiting for the time slot. The delay of
waiting for the time slots in DL-cluster and MH-cluster is larger than the delay of AN selection in CAICS. DL-cluster has longer
data aggregation delay than CAICS but shorter transmission delay because of its end-to-end transmission. Therefore, the overall
data transmission delay of DL-cluster and CAICS are close. Now, we can conclude that CAICS can reduce the energy
consumption and extend the lifetime of the cluster based WSNs for target tracking, without sacrificing the system performance.
We also examined the impact of the moving speed of the target, while fixing the sink at (0, 0).
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Fig. 4:
Fig. 5:
V. CONCLUSION
This paper proposed a novel coordinated and adaptive information collecting strategy (CAICS) for target tracking WSNs. In
CAICS, a coordinated spatial-correlated node selection algorithm is proposed. It uses a joint distance weighted measurement to
estimate the information utility of sensing nodes. Moreover, the AN is dynamically selected to gather and aggregate the sensed
data. Simulation results proved that the coordinated node selection approach outperformed the existing approaches by reducing
computational complexity and guaranteeing the tracking accuracy and achieved a significant energy consumption reduction and
network lifetime extension. Future work will explore and extend the coordinated and adaptive information collecting strategy to
other application domains.
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