mạng cảm biến không dây

HANOI UNIVERSITY OF SCIENCE AND TECHNOLOGY SCHOOL OF INFORMATION & COMMUNICATION TECHONOLOGY ─────── * ─────── THESIS SUBMITTED FOR PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR DEGREE OF ENGINEER IN INFORMATION TECHNOLOGY REAL-TIME TRACKING WIRELESS SENSOR NETWORK WITH ENERGY EFFICIENT MAC PROTOCOL Author: NGUYEN TRUNG QUAN Class ICT-541 Supervisor: Dr NGO QUYNH THU HANOI 5-2014 REQUIREMENTS FOR THE THESIS Student information Student name: NGUYEN TRUNG QUAN Tel: 01666980501 Email: quannt24@gmail.com Class: ICT-541 Program: ICT This thesis is performed at: Hanoi From: 24/2/2014 To: 30/5/2014 Goal of the thesis  Design a tracking system basing on wireless sensor network with high accuracy, low delay and energy efficient  Design a MAC protocol for the system which can support low delay and energy efficiency requirements Main tasks  Study the foundation of wireless sensor networks and its main characteristics  Study some related tracking system and protocols in wireless sensor networks  Study about tracking algorithms and their applicability in tracking wireless sensor network  Propose a design for the system and implement its simulation in OMNeT++ environment  Propose a MAC protocol which can achieve low delay and energy efficiency while maintaining decent packet delivery rate  Carry out experiments on simulation and analyze results Declaration of student: I – Nguyen Trung Quan – hereby warrant that the Work and Presentation in this thesis are performed by myself under the supervision of Dr Ngo Quynh Thu All results presented in this thesis are truthful and are not copied from any other work Hanoi, 30 May 2014 Author Nguyen Trung Quan Attestation of the supervisor on the fulfillment of the requirements of the thesis: Hanoi, 30 May 2014 Supervisor Dr Ngo Quynh Thu This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 ACKNOWLEDGEMENT First of all, I would like to thank Dr Ngo Quynh Thu (Department of Data Communications and Computer Networks – School of Information and Communication Technology) and Dr Tran Quang Vinh (School of Electronics and Telecommunications), who have supervised and oriented me throughout this research I also would like to thank lecturers of Hanoi University of Science and Technology who have educated and provided me knowledge for carrying out this research I would also like to thank the fellows in my research lab, who have supported me by their valuable advices and inspired me with their creative ideas Finally, with all of my gratitude, I would like to send my thanks to my family Without their continuous support and encouragement, I will never complete this research This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 iii FOREWORD Nowadays, wireless sensor networks have been developed extensively in many fields of life, many application of them have been deployed in reality, such as monitoring environment and weather, military, objects tracking, traffic monitoring and controlling, etc The major aim of this research is designing a wireless sensor network for tracking application, which can provide accurate results in real-time and have high energy efficiency The design should have a robust and versatile tracking process with appropriate algorithms In addition, an efficient communication scheme is crucial, not only for low delay and high energy efficiency but also tracking accuracy In this research, a new design for MAC protocol is proposed, which can cooperate with the routing protocol EMRP to provide a low-delay and energy efficient communication basis A simulation of the system is implemented in OMNeT++ simulation environment to analyze the working of the system and evaluate efficiency of the design This research is guided and supervised by Dr Ngo Quynh Thu and Dr Tran Quang Vinh To develop the design, I also referred to many related research results of other authors, some of which I have modified and adapted to the design The content of this thesis is structured as follow:  Part 1: Problem statement and orientation for solution o Chapter I: This chapter provides some fundamentals about wireless sensor networks and their specific characteristics An overview about main components of a tracking wireless sensor network is also introduced o Chapter II: This chapter contains a more specific statement about the problem should be solved about developing an accurate and efficient tracking wireless sensor network along with an orientation for solution In addition, a new lowdelay and energy efficient MAC protocol is proposed as a part of the system  Part 2: Research results o Chapter III: This chapter provides a detailed design for the required system Structure of the system, cooperation of components and detailed description of the proposed MAC protocol are stated in this chapter o Chapter IV: In this chapter, a simulation of the proposed system will be introduced Simulation results will be recorded and analyzed This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 iv TÓM TẮT NỘI DUNG ĐỒ ÁN TỐT NGHIỆP Mạng cảm biến không dây (WSN) là một hướng nghiên cứu mới, mở ra cơ hội phát triển các ứng dụng trong nhiều lĩnh vực của đời sống WSN được cấu thành từ những nút mạng là các thiết bị có kích thước nhỏ nhưng có năng lực tính toán độc lập, khả năng truyền thông và giám sát môi trường xung quanh Các nút mạng được kết nối với nhau qua các kết nối không dây và hoạt động một cách độc lập trong môi trường mở và thường có ít hoặc không có sự bảo trì của con người Chúng được gọi là các nút cảm biến và thường có giá thành rẻ Nhờ vậy, WSN đem lại phương cách cho nhiệm vụ giám sát môi trường dựa vào các dữ liệu cảm biến Dựa trên WSN, con người có thể phát triển nhiều ứng dụng trong các lĩnh vực quân sự, chăm sóc sức khỏe, giám sát thảm họa… Nội dung của đồ án chỉ tập trung nghiên cứu phát triển một hệ thống mạng cảm biến không dây phục vụ cho ứng dụng theo dõi mục tiêu Chức năng chính của hệ thống là theo dõi sự di chuyển của mục tiêu trong khu vực được triển khai mạng Cùng với đó, hệ thống cần phải có độ chính xác cao trong kết quả theo dõi, có khả năng làm việc trong thời gian thực và duy trì hiệu quả cao về sử dụng năng lượng Cùng với việc thiết kế hệ thống và cài đặt trên OMNeT++, giao thức đa truy cập XT-MAC được đề xuất, có nhiệm vụ đóng vai trò trong việc tăng cường hiệu quả sử dụng năng lượng trong khi vẫn duy trì độ trễ thấp tỉ lệ gửi gói tin cao Các mô phỏng chi tiết đã được thực hiện nhằm đánh giá thiết kế của hệ thống về các tiêu chí độ chính xác, hiệu quả sử dụng năng lượng, độ trễ và tỉ lệ gửi gói tin thành công This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 v ABSTRACT Wireless sensor network (WSN) is a new approach for research which opens opportunity for development of many applications in vast of fields A WSN is a network in which each node is small in size but has independent computing, communicating and environment monitoring capabilities They are connected by wireless channels and distributed in open environment where they operate autonomously with few or even no maintenance of human These nodes are called sensor nodes and usually come with low price Because of that, WSN provides a versatile means for monitoring environment basing on sensed data from sensor nodes Basing on WSN, people can develop many applications in military, health care, disaster monitoring, etc This thesis only concentrates the research in developing a WSN system for object tracking application Main function of the system is tracking movement of objects in network area In addition, the system should produce good accuracy in real-time when maintaining decent energy efficiency Along with the system design and implementation in OMNeT++, XT-MAC – a multiple access channel protocol is proposed, which undertakes the main role in improving energy efficiency while maintaining low delay and high packet delivery rate Extensive simulations are also implemented to evaluate the design of tracking system in terms of tracking accuracy, energy efficiency, latency and packet delivery ratio This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 vi CONTENTS REQUIREMENTS FOR THE THESIS ii ACKNOWLEDGEMENT iii FOREWORD iv TÓM TẮT NỘI DUNG ĐỒ ÁN TỐT NGHIỆP v ABSTRACT vi LIST OF TABLES ix LIST OF FIGURES x ACRONYMS xi PART 1: PROBLEM STATEMENT AND SOLUTION ORIENTATION .1 CHAPTER I: THEORETICAL BASIS I.1 Introduction of wireless sensor networks .1 I.1.1 General information .1 I.1.2 Characteristics of wireless sensor networks I.1.3 Problems in wireless sensor networks I.1.4 Applications of wireless sensor networks I.2 Target tracking in wireless sensor network I.2.1 Related work – Energy efficient MAC protocols I.2.2 Related work – Routing in WSNs I.2.3 Related work – Positioning methods .7 I.2.4 Developing an accurate and efficient tracking WSN 10 CHAPTER II: PROBLEM STATEMENT AND ORIENTATION FOR SOLUTION 11 II.1 Problem introduction 11 II.2 Problem statement .12 II.2.1 Expected features 12 II.2.2 Inputs 12 II.2.3 Outputs .12 II.2.4 Assumptions .12 II.3 Orientation for solution .12 PART 2: RESEARCH RESULTS 14 CHAPTER III: SYSTEM DESIGN 14 III.1 System models 14 This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 vii III.1.1 Network model 14 III.1.2 Model of physical layer .14 III.1.3 Sensing model 16 III.2 Tracking system design 16 III.2.1 Protocol stack 17 III.2.2 Design of XT-MAC protocol 21 III.2.3 Tracking process .24 CHAPTER IV: SIMULATIONS AND ANALYSES 30 IV.1 Simulation environment 30 IV.1.1 Introduction to OMNeT++ simulation framework 30 IV.1.2 Modeling concepts 31 IV.1.3 System simulation .33 IV.2 Experiments .34 IV.3 Result analyses 36 IV.3.1 Tracking accuracy .36 IV.3.2 End-to-end delay .41 IV.3.3 Energy consumption 42 IV.3.4 Packet delivery rate of data link layer 43 CONCLUSION AND FUTURE DEVELOPMENT 45 REFERENCES 46 This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 viii LIST OF TABLES Table IV-1: Parameters in simulation .36 Table IV-2: Tracking errors statistics .41 Table IV-3: End-to-end delay statistics 42 Table IV-4: Packet loss caused by data link layer 43 Table IV-5: Delivery rate of relayed packets 44 This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 ix LIST OF FIGURES Figure I-1: Sample wireless sensor network .1 Figure I-2: Components of tracking system Figure I-3: Ideal measurements for Lateration method Figure III-1: Radio state machine of CC2420 transceiver 15 Figure III-2: Simplified radio state machine .16 Figure III-3: Tracking process 17 Figure III-4: Protocol stack .18 Figure III-5: Strobe sending timeline 22 Figure III-6: Sending workflow of XT-MAC 23 Figure III-7: Sensing cycle adjustment (node broadcasts SYNC_REQUEST) .25 Figure III-8: Sensing cycle 27 Figure III-9: Trace collection process .29 Figure IV-1: Simple and compound modules 31 Figure IV-2: Raw positioning data delivered with XT-MAC 37 Figure IV-3: Raw positioning data delivered with B-MAC .37 Figure IV-4: Filtered traces with XT-MAC 38 Figure IV-5: Filtered traces with B-MAC .38 Figure IV-6: Tracked path (without timestamps) .39 Figure IV-7: Positioning error produced at CH 40 Figure IV-8: Tracking error produced at BS (including jump points) 40 Figure IV-9: End-to-end delay 42 Figure IV-10: Total residual energy 43 Figure IV-11: Residual energy maps at end of simulation .43 This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 x Parameters can be used to customize simple module behavior, and to parameterize the model topology Parameters can take string, numeric or boolean values, or can contain XML data trees Numeric values include expressions using other parameters and calling C functions, random variables from different distributions, and values input interactively by the user Numeric-valued parameters can be used to construct topologies in a flexible way Within a compound module, parameters can define the number of submodules, number of gates, and the way the internal connections are made IV.1.3 System simulation Basing on the environment provided by OMNeT++, the simulation of researched system is constructed with the following components: a Base framework This is the backbone of the simulation system, providing basic structures and interfaces for more detailed components (derived modules) This component contains following sub-components:  ChannelMgr: This is the central module managing channel state of whole network (at every node), organize it into a directed graph data structure where each node (graph node, not network node) is an object storing channel information corresponding to an network node;; and each edge represents a physical connection between two nodes For example A → B represents “B is in transmission range of A”  Entities: Interface for all entities in the simulation, such as sensor nodes, base station and moving targets  Generic messages: Generic formats for messages used in simulation, such as packets used in each layer or command messages for module interaction in a node  Base modules: Provide interface and basic logic for full featured modules representing components of entities in simulation All specific modules must derive from these modules  Base networks: Basic interfaces for constructing a network b Full featured modules These modules have fully implemented logic and are submodules of entities:  Application layer: application layer (of BS or sensor nodes) implementing tracking functions  Network layer: implementation of EMRP routing protocol More specific packet formats are also defined This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 33  Data link layer: implementations of XT-MAC and B-MAC  Physical layer: simulate physical layer compliant with IEEE 802.15.4 standard  Energy: simulate power supply of network nodes  Mobility: manage position of entities in simulation area  Other modules: sensor device and signal generator simulations c Entities This component contains simulated specific entities in network such as sensor nodes, base station and moving targets Each entity contains full featured submodules and therefore can be used in simulation for researching d Networks This component contains description for simulated network setups e Helpers This component contains modules which are not present in real world;; however, these modules support simulation process and helps simplifying the implementation of the simulation They provide some functions such as statistic collection, node arrangement or graphic decoration, etc f Utilities This component contain common used libraries and objects which is not provided by OMNeT++, such as library for calculating matrices, Gaussian noise, etc IV.2 Experiments The simulation is developed in order to evaluate tracking quality produced by the whole system Besides that, to inspect performance of the proposed MAC protocol more clearly, B-MAC is also implemented as reference There are two configurations for experiments are performed, one with XT-MAC as MAC protocol of network nodes (including BS) and the other with B-MAC Except specific configuration parameters of the two MAC protocols, all other configuration parameters of all layers in protocol stack are kept unchanged The detail configuration is showed in Table IV-1 To evaluate performance of two simulated systems, data about tracking accuracy, end-to-end delay, energy consumption and packet delivery rate is collected and examined carefully In simulation, the simulated network is configured in compliant with the stated network model More concretely, there are 256 sensor nodes evenly distributed over an area of 400*400 m2 A base station is positioned at the coordinates of (200, 400) (unit is meter) One target moves in the network area after ten second from start of simulation;; the target’s speed ranges from 6 to 12 m/s Sensing range of the target is 35 m;; in reality this sensing range depends on original intensity of signal radiated This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 34 from target and sensitivity of sensors, however, with stated assumptions, the sensing range is represented in distance in the simulation for simplicity Measurement error has standard distribution with expected value is 0 m and standard deviation is 15% of sensing range Each network node has transmission range of 40 m (again, this representation is for simplicity) Sensor nodes work with length of each sensing cycle is 0.5 s At start of simulation, every sensor node is provided with identical amount of energy;; because length of tracking scenario is short (about several minutes), the initial energy of each node will be set to a small value of 5 mWh so that we can examine the energy efficiency of the system more clearly Base station will have infinite power supply Parameter Simulated area Number of nodes Sensing range Standard deviation of measurement error Initial energy capacity Bit rate Transmission range Transceiver’s delay for switching to RX or TX mode Transceiver’s delay for switching to IDLE mode Power consumption in IDLE mode Power consumption in RX mode Power consumption in TX mode Unslotted CSMA/CA parameters EMRP’s initialization length EMRP’s switching energy Sense period (length of sensing cycle) Time for CH broadcasts beacon message for sensing synchronization CDF’s  Distance threshold for collecting target position for a trace Distance threshold for collecting target position for a trace XT-MAC strobeTime XT-MAC reservedInterval XT-MAC strobePeriod XT-MAC listenInterval XT-MAC sleepInterval XT-MAC timeout to stay in ACTIVE state Value 400 * 400 m2 256 35 m 0.15 * 35 m mWh 250 kbps 40 m 12 symbol periods = 0.000192 s 0s 1.278 mW 56.4 mW 52.2 mW Default values specified for 802.15.4 standard First 10 seconds of simulation 0.5 mWh 0.5 s At 0.45 s in each cycle of CH node 0.7 30 m 2s 0.003744 s 0,003744 s 0.008768 s 0.011232 s 0.15 s 1s This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 35 B-MAC checkInterval 0.01 s B-MAC preamble length 323 bytes B-MAC timeout to wait for packet 1s after sense activity in channel Table IV-1: Parameters in simulation The simulation finishes when the target completes its course Outputs and statistical data include:  Tracking output can be outputted in real-time but may contain junk traces and is not stored as final output of the system  Post-processed output can be produced with a constant lag of junk traces’ old threshold compared to previous real-time output;; however this output is already filtered some junk traces which causing degrade of tracked path  Statistical data of tracking error over time (basing on real-time output)  End-to-end delay of each target position data reaches BS  Total residual energy of all sensor nodes and residual energy of each sensor node at end of simulation  Packet delivery rate of data link layer (whole network) IV.3 Result analyses IV.3.1 Tracking accuracy a Tracked trajectories After target’s position is estimated at cluster, the CH relays this data to BS in a packet DATA_TO_BS The relaying process is repeated through multiple hops before the packet reaches BS The efficiency of network layer and data link layer does not directly affect tracking accuracy at this stage (because the estimation is carried out at CH);; however, it does affect number of DATA_TO_BS packets delivered to BS Number of delivered DATA_TO_BS packets determines how detail the positioning data produced by CH (raw positioning data) that the BS receives The detail of raw positioning data will affect the quality of final output (filtered tracking path) produced by BS Figure IV-2 and Figure IV-3 illustrate raw positioning data delivered by two systems with XT-MAC and B-MAC installed In the figures, each target position vector is illustrated as a point in three-dimensional space, representing its three components (x, y, t), each point is also colored to represent its timestamp t more clearly As illustrated in the figures, this raw data is still noisy and contains many jump points These jump points degrade the tracking quality more than improve it and should be filtered out Compare Figure IV-2 and Figure IV-3, we can easily see that the data delivered by XT-MAC is more detail than the data delivered by B-MAC It means that XT-MAC is more reliable when relaying packets to BS This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 36 Figure IV-2: Raw positioning data delivered with XT-MAC Figure IV-3: Raw positioning data delivered with B-MAC After the raw positioning data is delivered to BS, the BS does not use that data directly to construct the output (traces) Instead, it use a filtering algorithm to process this data and improve the accuracy In parallel, a post-processing routine is also executed to remove junk traces (containing unreliable segments of tracked path and jump points) The result of post-processing appears with a small constant lag after raw positioning data arrival This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 37 Figure IV-4 and Figure IV-5 illustrate filtered traces with junk traces removed The detail of raw positioning data does a great impact with quality of filtered traces Unreliable segments of tracked path are removed and the remaining parts are more accurate Figure IV-4: Filtered traces with XT-MAC Figure IV-5: Filtered traces with B-MAC Figure IV-6 illustrates the final tracking result compared to true movement path of the target As you can see, the proposed system design can provide tracking result following closely to the true path This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 38 Figure IV-6: Tracked path (without timestamps) b Tracing error To inspect tracking quality produced by CH more closely, the positioning errors are recorded at CH and plotted in the Figure IV-7 Tracking errors are also recorded at BS and plotted in Figure IV-8 Note that tracking errors are recorded right after target position vectors arrive and therefore errors of jump points are also included in the statistics Compare these two figures more closely we can recognize some plotted errors (with high values) are unchanged while almost others are reduced thank to filtering process Because these are jump points and they are classified into junk traces where number of target position vectors is only one, these traces are not improved (due to lack of historical data) and will be removed by post-processing This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 39 Figure IV-7: Positioning error produced at CH Figure IV-8: Tracking error produced at BS (including jump points) This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 40 Table IV-2 contains statistics about tracking errors It shows that the mean error of final output of proposed system with XT-MAC is 4.71 m and with B-MAC is 7.03 m In compare with sensing range of 35 m, the error of proposed system is about 13% With XT-MAC With B-MAC Error at CH BS CH BS 6.67 4.71 8.95 7.03 Mean error (m) 6.18 4.29 6.55 5.56 Standard deviation Table IV-2: Tracking errors statistics IV.3.2 End-to-end delay In order to assure real-time property, the tasks of target detection, target localization, and target state report need to be completed within each sampling interval In other word, the end-to-end delay needs to be smaller than the sampling interval (0.5 s) Note that B-MAC and XT-MAC are configured differently because their duty cycling mechanisms are different, method for listening to preamble packet of B-MAC is based on its own clear channel assessment mechanism [1];; whereas XT-MAC needs to receives a complete strobe packet However, the inspected data in this thesis are from the configurations providing best result of the two protocols Because both simulated systems use the same upper layers, they will have similar traffic load In addition, both B-MAC and XT-MAC are based on CSMA/CA algorithm for multiple-access channel, the difference in end-to-end delay is mainly caused by duty cycling activities at each hop We call the additional delay caused by duty cycling activities is duty cycling delay As shown in Figure IV-9, end-to-end delay of most packets transmitted with XT-MAC is smaller than 0.5 s or the realtime property of the system is assured B-MAC provides fairy good results;; however, its efficiency reduced significantly while number of hops increase and most of the time B-MAC has higher delay than XT-MAC The average value of end-to-end delay of XT-MAC is 0.281 s while B-MAC's is 0.453 s In details, two protocols send their preamble packet(s) to wake up receiver(s) before sending each payload packet;; B-MAC have to send a long preamble packet (which is matched with checkInterval of receivers), this step is repeated at every hop in relay path from CH to BS;; in other words, at each hop, B-MAC has additional delay equals checkInterval Whereas, XT-MAC divides the preamble into small strobes and has windows of free channel between strobes, this enables receiver to send back an acknowledgement as soon as it wakes up With EMRP routing protocol, we usually have a stable relay path for several sensing cycles With the stable relay path, XTMAC improves the delay even more, because after being woken up for the first time, receiver stays in ACTIVE state for a while and it can response immediately to strobes of next sensing cycles This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 41 Figure IV-9: End-to-end delay With XT-MAC With B-MAC 0.281 0.453 Mean (s) 0.1596 0.1388 Standard deviation Table IV-3: End-to-end delay statistics IV.3.3 Energy consumption Energy consumption is also one important aspect of WSN As shown in Figure IV-10, after more than 300 seconds of the simulation, the total residual energy is equal to 1031.45 mWh with XT-MAC and 992.4 mWh with B-MAC (initial value is 1280 mWh) Both systems achieve low power consumption in high load condition and XT-MAC performs slightly better than B-MAC However, by observing energy maps in Figure IV-11, consumed energy converges at the nodes near BS more clearly with B-MAC This means that for longer work, there will be significant difference in network lifetime between two corresponding systems This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 42 Figure IV-10: Total residual energy (a) With XT-MAC (b) With B-MAC Figure IV-11: Residual energy maps at end of simulation IV.3.4 Packet delivery rate of data link layer Table IV-4 is statistics about payload packet loss caused by data link layer This includes all packets from upper layers (network layer and higher) As indicated, both systems have acceptable packet loss Lost packets Delivered Packet loss packets percent 3964 36596 9.7% With XT-MAC 4300 33775 11.3% With B-MAC Table IV-4: Packet loss caused by data link layer This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 43 However, Table IV-4 only reflects general reliability of the data link layer, this statistics is dominated by control packets of upper layers and packets transmitted within clusters To examine more clearly about the influence of these MAC protocols to tracking quality produced at BS, relayed packets (DATA_TO_BS) created at CHs and delivered to BS are counted Counting result is represented in the Table IV-5 Relayed packets Created Delivered 602 487 In system with XT-MAC 473 337 In system with B-MAC Table IV-5: Delivery rate of relayed packets Delivery rate 81% 71% Easily see that there are significant differences in both number of created relayed packets and their delivery rate The system with B-MAC has lower number created relay packets;; it means that there is more interference in clusters than in the system with XT-MAC, causing loss of measurement packets and degrading positioning quality of CHs In other hand, with better delivery rate, XT-MAC helps to provide more detail positioning data to BS and therefore, improve final tracking quality of BS This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 44 CONCLUSION AND FUTURE DEVELOPMENT In this thesis, overviews about wireless sensor networks and general structure of a tracking wireless sensor network have been introduced A design for an energyefficient, accurate and real-time target tracking system is proposed In addition, XTMAC – a duty cycling protocol is also proposed with features tailored for the tracking system An extensive simulation has been developed to evaluate the efficiency of the designed system, especially the efficiency contributed by the proposed MAC protocol In the simulation, B-MAC – a classical duty cycling protocol has been implemented as a reference Simulation results confirmed that the new XT-MAC can track targets in real-time with reasonable accuracy while achieving better energy consumption and delay compared to the long preamble duty cycling protocol BMAC However, the proposed system still has some deficiencies;; especially one major limitation of the system is that it still lacks of ability to keep accurate tracking when two or more targets move close to each other This limitation is caused by some factors such as signal processing ability of sensing devices and the accuracy of data association mechanism In the future, more researches will be carried out to attack these limitations of the system and improve its performance This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 45 REFERENCES [1] Polastre, Joseph and Hill, Jason and Culler, David, "Versatile Low Power Media Access for Wireless Sensor Networks," in Proceedings of the 2Nd International Conference on Embedded Networked Sensor Systems, 2004 [2] L Mingxi, X Yan, C Yi, and S Hu, "A mac protocol for target-tracking in wireless sensor network," Chinese Journal of Electronics, vol 22, p 359, 2013 [3] L Song and D Hatzinakos, "A cross-layer architecture of wireless sensor networks for 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system," in EMS, 2001 This thesis is performed by: Nguyen Trung Quan – 20092138 – ICT-541 47 ... Nguyen Trung Quan – 20092138 – ICT-541 iv TÓM TẮT NỘI DUNG ĐỒ ÁN TỐT NGHIỆP Mạng cảm biến không dây (WSN) là một hướng nghiên cứu mới, mở ra cơ hội phát triển các... nối không dây và hoạt động một cách độc lập trong môi trường mở và thường có ít hoặc không có sự bảo trì của con người Chúng được gọi là các nút cảm biến và... Nội dung của đồ án chỉ tập trung nghiên cứu phát triển một hệ thống mạng cảm biến không dây phục vụ cho ứng dụng theo dõi mục tiêu Chức năng chính của hệ thống

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