Design and implementation of a centralized approach for multi-node localizatio

International Journal of Electrical and Computer Engineering (IJECE)
Vol. 12, No. 3, June 2022, pp. 2477~2487
ISSN: 2088-8708, DOI: 10.11591/ijece.v12i3.pp2477-2487  2477
Journal homepage: http://ijece.iaescore.com
Design and implementation of a centralized approach for multi-
node localization
Ola A. Hasan1,2
, Abdulmuttalib T. Rashid1
, Ramzy S. Ali1
, Hamza H. Qasim2,4
,
Mustafa A. Al Sibahee2,3
, Lukman Audah4
1
Department of Electrical Engineering, University of Basrah, Basrah, Iraq
2
Department of Communication Engineering, Iraq University College, Basrah, Iraq
3
Shenzhen Institute of Huazhong University of Science and Technology, Shenzhen, China
4
Wireless and Radio Science Centre (WARAS), Faculty of Electrical and Electronic Engineering, Universiti Tun Hussein Onn Malaysia
Batu Pahat, Malaysia
Article Info ABSTRACT
Article history:
Received Jul 27, 2021
Revised Nov 5, 2021
Accepted Nov 30, 2021
In this paper, a centralized approach for multi nodes localization is
introduced. This approach is based on using a beacon fixed at the lower
middle edge of the environment. This beacon is provided with a distance
sensor and can scan the environment to measure the distance between the
detecting node and the beacon. Also, remote control is fixed on the beacon
to distinguish the identity of the detecting node. Two nodes are used in this
approach, each node contains eight cells, and each cell has a 5 mm infrared
(IR) transmitter and TSOP4P38 IR receiver. If any one of the IR receivers
has received the beacon ID, the transmitter which belongs to the same cell
will respond by sending the node ID to the beacon. The beacon
measurements and the information received from the detected nodes are then
used to estimate the location and orientation of the visible nodes and the
results will be saved in the main computer. Several experimental results have
been tested with different distances from the nodes to the beacon. Also,
different rotation angles at the beacon have been experienced to analyze the
performance of the introduced approach.
Keywords:
Centralized approach
Distance sensor
IR Sender and receiver
Localization
This is an open access article under the CC BY-SA license.
Corresponding Author:
Ola A. Hasan
Communication Engineering Department, Iraq University College
Istiklal Street, Basra, Iraq
Email: ola.ahmed@iuc.edu.iq
1. INTRODUCTION
A sensor is defined as a small tool used to detect or measure certain physical quantities and convert
them into human-readable signals through a specific relationship to be displayed or processed further.
Sensors are used for a variety of measurements, including: temperature, light, humidity, motion, pressure,
and sound [1]. In a multi-node system, localization forms a great issue. The information collected from
sensor nodes should include their location to provide a clearer view of the observed sensor environment
because without location, the data will be geographically meaningless [2], [3]. Object tracking, monitoring,
and all applications that need quick and effective data routing, such as bringing firefighters to an emergency
location, or military issues, are just a few of the many fields where the positioning property offers new
opportunities [4], [5]. Localization may be divided into two categories: centralized and distributed
architectures depending on the architecture utilized to locate the nodes [6], [7]. Each node in a distributed
architecture can compute its own position by communicating with its neighbors; however, this architecture
has the disadvantage of requiring additional hardware for position determination at each node [8], [9]. The

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Int J Elec & Comp Eng, Vol. 12, No. 3, June 2022: 2477-2487
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centralized architecture has a central unit that collects all received data and it performs most of the
computations to estimate each node's position. The main disadvantage of this method is that any failure in the
central unit causes the system to break down [10]. Furthermore, the centralized architectures also struggle
from the scalability issue. The central unit may get congested as a result of the large-scale networks [11],
[12]. As previously mentioned, localization is a significant issue in wireless sensor networks, and as long as
localization is being used, choosing sensors for communication and distance measurement will be a dilemma
[13]. To compute distance, a node can be equipped with a camera, laser scanner, linear variable differential
transducer (LVDT), ultrasonic, or infrared sensors [14], [15]. Many applications require low-cost sensors that
can measure distance accurately. The LVDT, laser scanner, and camera will be excluded despite being
accurate because they are unfortunately expensive [16], [17]. The accuracy and inexpensiveness of infrared
(IR) and the ultrasonic (US) sensors make them a very suitable choice for measuring distance [18], [19]. On
the other hand, distance calculation isn't the only requirement for localization; some techniques require
knowledge of the sender and receiver's identities, while others rely on node connections to determine the
nodes' positions. Again, we are looking for low-cost sensors to achieve communication among the indoor
system nodes which are the infrared sensors [20]. From the results of experiments, the TSOP4P38-IR
receiver with a remote control circuit is the best one to achieve communication among nodes in indoor
environments while the best sensor for detecting distance is the HC-SR04 ultrasonic sensor [21].
A hybrid indoor approach that combines distributed and centralized architectures was proposed in
another paper. This approach aims to build a tree of nodes by the beacon with the help of connectivity among
nodes. Each node takes advantage of the information flowing through the tree to locate itself [22]. A
centralized architecture is used by other work in which two tables are constructed by collecting the
information obtained from scanning the environment by both beacon and visible nodes. These tables have
been used later to localize the invisible nodes [23]. Another paper is implemented using the locations
matching algorithm. This algorithm aims to develop multi-color objects recognition and localization system.
The system comprises two beacons with long-distance IR sensors to get the absolute locations estimations of
objects. In this system, each object has different surface color and different reflectivity factor [24]. In another
paper, the environment is provided with a distance infrared sensor to scan the robots and estimate the
absolute locations and orientations of a number of team robots without knowing their IDs. The orientation
obtained from the distance infrared sensor is matched with the relative orientation recorded using onboard
sensors to create the IDs of these robots [25]. In this paper, the HC-SR04 ultrasonic sensor and the TSOP4P38
IR receiver with a remote control circuit will be used to realize the centralized approach practically. This work
covers the electronic circuits and the structures for each of the beacon and nodes. It also includes how the beacon
and nodes are communicating. The system description will be explained in details in section 2 and the results
and discussions are examined in section 3. Finally, the conclusion will be in section 4.
2. RESEARCH METHOD
In our proposed multi-node system, there are four components: nodes, beacon, computer, and data
logging software. The beacon is placed in the middle of the bottom edge of the frame and can detect the
nodes by scanning the environment and communicating with each node to obtain its ID. Then, using a USB
cable, all collected data will be sent to the computer. This is necessary for the data logging software to be
able to create the nodes based on their computed positions and IDs, as illustrated in Figure 1.
2.1. The system hardware
The hardware of the system consists of one beacon and two nodes. All are placed on a white board
has a length of 80 cm and a width of 80 cm. The structure of the beacon and nodes, as well as all of the
circuits required to make them work, are described below.
2.1.1. The nodes structure
We previously stated that the system has two nodes. As can be seen in Figure 2, each node has 3
parts. The first part is the node base which has 2 wheels besides 2 balancing screws. Each wheel is attached
to a servo motor in case we want the node to move. The second part is an 11 cm height white cylindrical
body to make the beacon sonar able to scan the node. The node upper part (third part) consists of two layers.
The first layer, as in Figure 3(a), was divided into 8 cells to accommodate eight of 5 mm IR transmitters and
eight TSOP4P38-IR receivers. The node roof, as shown in Figure 3(b), represents the second layer. This layer
comprises a 9 V battery, a control board, and a relay connected to a remote-control circuit to select the node
identification code. The relay with remote control circuit along with the first layer will form the communication part.

Int J Elec & Comp Eng ISSN: 2088-8708 
Design and implementation of a centralized approach for multi-node localization (Ola A. Hasan)
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Figure 1. Experimental setup infrastructure Figure 2. Illustration of node parts
(a) (b)
Figure 3. The upper part of node (a) first layer and (b) second layer
In the node structure, the control board has an ATMEGA328P microcontroller. The ATMEGA328P
is a low-power CMOS 8-bit microcontroller that uses the advanced reduced instruction set computer
architecture to execute an instruction in a single clock cycle, resulting in high throughput of up to 1 MIPS per
1 MHz. There are 32 GBS on the microcontroller, each with eight bits. There's also 32 KB of flash program
memory, 2 KB of SRAM, and 1 KB of EEPROM on board. The microcontroller also has twenty-three
input/output lines, which require an operating voltage of 1.8 to 5.5 V.
A 16 MHz crystal, as well as two 22 pF capacitors, are included on the control board to create an
external crystal oscillator. The crystal oscillator's role is to generate a clock signal that synchronizes all of the
microcontroller's components. Although the ATMEGA328P microcontroller includes a 1 MHz internal
oscillator, using an external oscillator will speed up the microcontroller's activities. On one side, the 16 MHz
crystal is connected to microcontroller’s pins 9 and 10, and the other side is connected to with 22 pF
capacitors. Last but not least, the control board contains a voltage regulator that converts the battery’s 9 volts
to 5 volts, which is the proper operating voltage for all of the microcontroller, TSOP4P38 IR receiver, and
relay. The node upper part schematic diagram is shown in Figure 4.
2.1.2. The beacon structure
The beacon, as shown in Figure 5, is also consists of three parts. These parts are used to compute the
distance from the beacon to each of the nodes and obtain their IDs. Below is a description of each part. The
first part, which is the sonar, is responsible for nodes detection and distance measurement. This part is made
up of an HC-SR04 ultrasonic distance sensor which is fixed on a servo motor to control the movements of the
sensor and can rotate from 0 to 180 degrees. The servo is fixed with two screws on a square plastic board.
The job of this part is to sense the nodes, compute the detection angles, and calculate the distance between
the beacon and each of the nodes.

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Figure 4. the node upper part schematic diagram
Figure 5. The parts of the beacon
The second part is the communication part, which involves a relay connected to a remote-control
circuit; both are positioned on the same square plastic board as in the previous part. The relay acts as a switch
that closes the remote-control circuit when it receives a signal from the beacon control. Closing the remote-
control circuit will cause the beacon ID to be sent through a 5 mm infrared transmitter. Both the 5 mm IR
transmitter and the TSOP4P38 IR receiver are located inside a cell that is fixed to the servo motor to rotate
along with the ultrasonic sensor. The TSOP4P38 IR receiver is used to receive the nodes' IDs. The
information exchanging operation between the nodes and the beacon is handled by the communication part.
The third and final part is the control part. This part is represented by an Arduino Uno located on the
square plastic board. It is important to point out that the Arduino Uno board has 14 digital input/output pins
and 6 analog inputs. The operating voltage of this kit is 5 V and the clock speed is 16 MHz. Finally, this Kit
has a 1 KB EEPROM, a 32 KB flash memory, and a 2 KB SRAM. The communication and the sonar parts
aren’t able to work unless they receive commands from the control part. The schematic in Figure 6 displays
how all the beacon parts are connected, as well as all the Arduino pins that were used.
The sonar part

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Figure 6. The schematic diagram of the beacon
2.2. Software for data logging
The control part represents the mastermind that controls the other parts of the system, while the
software is like a soul that gives life to the hardware. Figure 7 depicts the graphical user interface (GUI) for
the system software, which was created using Visual Basic 2010. The start button causes the beacon to start
working by rotating the sonar part from 0⁰ till 180⁰. The sonar will back to 0⁰ when the reset button is pressed.
To demonstrate the behavior of both the beacon and nodes, this software can be divided into two procedures.
Figure 7. The graphical user interface of the system software
2.2.1. The procedure based on beacon
Using this procedure, the detecting angle and the distance (the polar coordinates) of nodes with
respect to the beacon coordinates can be calculated. Figure 8(a) demonstrates the flow chart for the procedure
based on beacon. The steps for this procedure are:
a. Pressing the start button causes a command to be written to the serial monitor.
b. The microcontroller in Arduino reads the serial and commands the servo motor to rotate at180⁰ while
simultaneously activating the ultrasonic sensor.

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c. The ultrasonic sends eight ultrasound pulses at each degree and waits for an echo. The IR sender will be
enabled, and the beacon ID will be sent in the case of the pulses hitting some object and reflected. If this
is not done, the servo will advance to the next degree.
d. If the node ID is received by the beacon receiver, then the distance, detecting angle, and node ID will be
all written to the serial monitor, where the visual basic program can read them.
e. Repeat steps 2-4 until the servo motor reaches 180⁰, then set the node counter to 1.
f. The Visual Basic software will use the obtained data to calculate the precise coordinates of node i, assign
it a color based on its ID, and finally draw it on the computer screen.
g. When the nodes counter does not match the total number of nodes, then the counter will be raised by one
and step 6 will be repeated.
2.2.2. The procedure based on node
The purpose of this procedure lies in communicating with the beacon when the node obtains the
beacon ID. Each node has eight TSOP4P38 IR receivers evenly distributed on its circumference. The
receivers are always kept in a listening mode. A flow chart for this procedure is shown in Figure 8 (b). Below
are the steps for the procedure based on node:
a. The node microcontroller on a regular basis checks each IR receiver starting with IR1 to verify whether
any IR receiver has received the beacon ID.
b. If the beacon ID has been received by any receiver, the IR sender will transmit the node ID. If not, the IR
receivers' counter will be incremented by 1 and handed to the next IR receiver.
c. Repeat steps 1 and 2 if the IR receivers’ counter reaches eight.
(a) (b)
Figure 8. The flow chart of (a) the beacon-based procedure and (b) the node-based procedure

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3. RESULTS AND DISCUSSION
To test the system, one of the nodes was placed at a 32-cm distance and at a 48-degree angle, it was
labelled in red and assigned the code 0xFF18E7. The other node was set at 56 cm away from the beacon, and
at an angle of 89 degrees. The second node was marked in blue and assigned the code 0xFF9867 as
illustrated in Figure 9. The software program was then run, yielding the results shown in Figure 10; from this
figure, the distance, ID and angle for the red node are 32 cm, 0xFF18E7, and 48 degrees respectively while
the distance, ID and angle for the blue node are 56 cm, 0xFF9867, and 89 degrees which are exactly the same
values as in the real environment. Figure 11 displays both the GUI output and the real-world environment
after the scan is completed. The system accurately estimates distances and angles. The nodes were properly
drawn based on their determined positions and colors. The system also provides successful communication
among the nodes and the beacon.
Figure 9. The real-world environment before
the scan started
Figure 10. The results of the GUI program’s
debugging
Figure 11. The environment once the scanning is finished along with the results of the debugging
The measured distances for a node located once at 20-cm and the other time at 50-cm apart from the
sonar are shown in Figures 12(a) and 12(b). For both curves, different rotation angles of 2, 4, and 8 degrees
were used to repeat the distance measurements. As an example, RA=2 degrees mean that the beacon scans
the environment by rotating 2 degrees at each step. In Figure 12(a), the ultrasonic detects the existence of the
node at a distance of 20 cm, for 24 readings when RA equals 2 degrees (blue bars), 12 readings when RA
equals 4 degrees (red bars) and finally 6 readings when RA equals 8 degrees (green bars). On the other hand,
Figure 12(b) is analogous of Figure 12(a) expect that the node is placed at distance of 30 cm. This procedure
was repeated for other different distances 40 and 50 cm. All the figures showed that the accurate
measurements for distances are occurred when the ultrasonic sensor is exactly in front of the detected node.

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We'll use the preceding curves to calculate the percentage of accurate measurements, as illustrated in
Figure 13(a), which investigates the effect of the rotation angle step on ultrasonic reading accuracy. Different
distances were measured, and the percentage of precise readings out of total readings, excluding zeros, was
calculated. For example, if the distance between the node and the sonar is 40 cm and the RA is 2 degrees, the
total number of readings is 19 and the number of accurate readings is 7, resulting in a 37 percent accuracy
rate. The percentages for the 4 and 8 degrees, on the other hand, will be 36 and 33 percent, respectively. This
means that the accuracy percentage of readings increases as the step of rotation angle decreases.
(a)
(b)
Figure 12. The measurements of distance for a node positioned at (a) 20 cm and (b) 30 cm from the sonar
using 2, 4, and 8 degrees of rotation angle steps
In Figure 13(b), the relationship between the distance at which the node is placed and the influence
of that distance on the accuracy percentage of ultrasonic readings has been studied. It is obvious that the
closest node has the highest accuracy percentage. For instance, when the RA is 2 degrees and the distance is
20 cm, there will be 10 accurate readings out of 24 total measurements, resulting in a 42 percent accuracy
rate. When the same rotation step is used but the distance is 50 cm, there are 7 precise readings out of 17 total
measurements, resulting in a 35 percent accuracy rate. This means as the distance between the node and the
ultrasonic sensor decreases, the accuracy percentage of readings will increase. From Figures 13(a) and 13(b),
we find that the readings that indicate the exact position of the node have the highest percentage of accuracy.
These readings were used in the Visual Basic code to calculate the exact locations of the nodes.

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(a)
(b)
Figure 13. The Percentage of accurate distance measurements in relation to (a) the rotation angle steps and
(b) the distance from the beacon
4. CONCLUSION
This paper discussed the use of the centralized approach for the practical implementation of a multi-
node localization and identification system. In this research, very precise node location estimations were
obtained. Also, excellent connectivity between nodes and the beacon was accomplished. The percentage of
accurate distance readings for several rotation angle steps (two, four, and eight degrees) was tested. We
concluded that decreasing the rotation angle steps improves location estimate accuracy, but this will increase
the time required to complete the environment scanning. As a result, reducing of rotation angle step leads to
increase the number of correct readings and thus increasing the accuracy percentage. The percentage of the
accurate distance readings with respect to the distance from the beacon was also studied. We concluded that
the closest distance to the beacon has the maximum accuracy. This result occurs since the nearest node to the
beacon has the largest number of readings for all rotation angle steps. Finally, we found that the readings that
relate to the exact position had the maximum accuracy percentage at each rotation angle step and at each
distance.
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BIOGRAPHIES OF AUTHORS
Ola A. Hasan was born in Iraq. She received the B.S. degree in computer
engineering from the University of Basra in 2013 and the M.S. degree in electrical
engineering also from the University of Basra in 2017. In 2013, she worked as an IT
engineer in the Basra Governorate Building. Since 2018, she has worked as a lecturer at Iraq
University College. Her research interests include robotics, wireless sensor networks,
biometrics, renewable energy, control systems, IOT, and programming. She is a member of
the reviewing committees of a number of journals and international conferences. She is a
member of both the IEEE and ACM organizations. She can be contacted at email:
ola.ahmed@iuc.edu.iq or olaalkharasani91@gmail.com.

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Abdulmuttalib T. Rashid was born in Iraq. He received the B.S. degree in
electrical engineering from Basrah University at Basrah, Iraq in 1986. He received the
M.Sc.and Ph.D. Degrees from the same University at 1992 and2012 respectively. Worked as
Assistant Lecturer, Lecturer at the Department of Electrical Engineering University of Omer
Al Mukhtar, Libya, in 1997–2007. Then at the Department of Electrical Engineering,
University of Basrah, Iraq, in 2007 up to now. His field of Interest is Robotics and Industrial
control. The research interests were in motion planning and control of multi mobile robots.
He can be contacted at email: abdturky@gmail.com.
Ramzy S. Ali received the B.Sc and M.Sc degrees in Electrical Engineering
and Control & Computers Engineering from the University of Basrah, Basrah, Iraq in 1985
and 1989 respectively. He also received his PhD degree in the field of Control and Systems
from the Saint-Petersburg State Polytechnic University, Russia in 2003. He is currently an
Assistant Professor at the University of Basrah. His teaching interests covering wide areas of
modules across the department of Electrical Engineering, University of Basrah, include
Intelligent Control Systems, Robust Control Systems, Microprocessor & Microcontrollers
and Industrial Automation. He currently serve as a co-editor of the Basrah Journal for
Engineering Sciences. His research interests include Intelligent Control of Robotics,
Computational Intelligence, Chaos & Nonlinear dynamics, Renewable electrical energy
systems, and PLC applications in industrial and engineering education. Dr. Ramzy is a
Senior Member of the IEEE. He can be contacted at email: rsawaily@gmail.com.
Hamza H. Qasim received the B.S. Degrees from Iraq University College,
Iraq, in 2015. In 2018 he received the M.S. degree in Electrical Engineering from UTHM,
Malaysian. He is currently a lecturer In Iraq University college, Department of
communication Engineering. His current research interests include IoT, WSN, vehicular
networks, mobile edge computing and reinforcement learning for resource allocation in
wireless communication. He can be contacted at email: enghamza.iq@gmail.com.
Mustafa A. Al Sibahee researcher at College of Big Data and Internet,
Shenzhen Technology University, Shenzhen-China. Received his, Ph.D. 2018, from
Huazhong University of Science and Technology, Wuhan-China. From April-2019 to
March-2021, was a postdoctor at Shenzhen Huazhong University of Science and
Technology, Research Institute, Shenzhen-China. His research interests include Computer
Networks and Information Security, Internet of Things and Wireless Sensor Networks
(WSNs). He can be contacted at email: mustafa@sztu.edu.cn.
Lukman Audah was born in Kuala Lumpur, Malaysia. He received the B.Eng.
degree in telecommunications from Universiti Teknologi Malaysia, in 2005, and the M.Sc.
degree in communication networks and software and the Ph.D. degree in electronic
engineering from the University of Surrey, U.K. He is currently a Lecturer with the
Communication Engineering Department, Universiti Tun Hussein Onn Malaysia. His
research interests include wireless and mobile communications, Internet traffic engineering,
network system management, data security, and satellite communications. He can be
contacted at email: hanif@uthm.edu.my.

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