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Macro-Calibration in Sensor/Actuator Networks. Kamin Whitehouse, David Culler . Problem. Individual sensor calibration in a large sensor network is not feasible Sensors difficult to calibrate because of a lack of a calibration interface . Calibration Techniques. Traditional calibration

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macro calibration in sensor actuator networks

Macro-Calibration in Sensor/Actuator Networks

Kamin Whitehouse, David Culler

problem
Problem
  • Individual sensor calibration in a large sensor network is not feasible
  • Sensors difficult to calibrate because of a lack of a calibration interface
calibration techniques
Calibration Techniques
  • Traditional calibration
    • Parameters belong to transmitter/receiver pair
  • Iterative calibration
    • Calibrate receivers against a reference transmitter
    • Suffers from error propagation
    • Assumes reference is calibrated well, error is in uncalibrated device
  • Mean calibration
    • Calibrate receivers against all transmitters
    • Does not allow calibrate both receivers and transmitters
    • Avoids separation problem by not calibrating transmitters
  • Separation Problem
    • Inability to distinguish receiver effects from transmitter effects
joint calibration
Joint Calibration
  • Looks at system as a whole
  • Technique
    • Parameterize each device and model system response
    • Collect data from system
    • Choose parameters such that system performance is optimized
  • Previous techniques optimize individual device response
  • Only need to use system output to calibrate – don’t need to directly observe actual response.
    • Ex. In localization, only need distance estimates
calimari
Calimari
  • MICA motes
  • Uses RSSI and acoustic TOF ranging
experiments
Experiments
  • 32 MICA motes in grid on table 210cm x 90cm
  • Each node generated up to 31 distance estimates
  • Average error after uniform calibration (linear regression) 21%
  • Iterative: 19.7%, Mean: 16.0%
  • Joint: 10.1%
auto calibration
Auto Calibration
  • Use information about application to help calibration process
  • Localization:
    • dij = dji
    • dij + djk – dik >= 0
    • Can use these to help constrain problem
  • -
comments
Comments
  • Not truly adhoc yet
  • Where is computation performed?
  • Accuracy of calibration vs. number of estimates