A wireless sensor networks localization using geometric triangulation scheme for object tracking in urban search and rescue application

Wireless sensor networks (WSNs) have been widely used for monitoring, tracking or object navigating whether stationer or mobile object. The system could be implemented in indoor or outdoor area. Disaster activity in urban area such as earthquake, tornado even militant activity inside the building need an object tracking in order to carry out search and rescue procedure for the victims or rescuers. Localization technique in indoor area encounters some problems which related to environment characteristics such as building material, multipath, reflection and other parameters which will decrease the accuracy of estimated object position. We propose a geometric triangulation scheme as an alternative way of calculating the estimated position of the object, based on the angle of arrival between an object node and its references. This scheme is free from environment problem. The simulation result shows that using least square method through the average of position error the estimated position accuracy will be increased up to 22.27% better than the previous triangulation scheme.