Design and implementation of a vehicle detection testbed using wireless sensor networks

The paper describes a testbed designed to study wireless sensor networks (WSN) and vehicle detection application. A piece of magnet is mounted on a soccer robot to emulate the vehicle. The sensor node with a magnetometer can detect the disturbance of the Earth's magnetic field caused by the passing robot. All sensor nodes are powered by batteries and organized into a wireless network. The position and velocity of the moving robot are detected continuously and displayed on a laptop. To share the experience with other researchers, we present our solutions of estimating the robot's position and velocity. Experimental results show the validity of this testbed.