Tracking of Mobile Nodes in Sensor Networks

We present the development and implementation of an algorithm for tracking the position of a mobile network node. The tracking algorithm uses distance measurements between a mobile node and multiple anchor nodes. The first stage of our algorithm calculates the initial position from distance measurements relative to three (2D) or four (3D) anchors of known position. In a second stage this initial position is improved and tracked over time by feeding a Kalman filter with new distance measurements to neighboring anchor nodes of known position. Both the algorithm and the related communication protocol have been implemented and verified in multiple scenarios by using the event driven OMNET++ network simulator.