Probabilistic environmental model based on ultrasonic sensor networks

A probabilistic grid method algorithm based on wireless sensor network is proposed in order to solve indoor global environmental modeling problem. At first, deploying WSN nodes on the ceiling evenly and processing the discrete data returned by WSN to form a probabilistic grid model within the detection range. In this way, we describe the probability existing obstacles of each grid. When the grids are in overlap detection region, the method of joint probability is used to calculate the probability of obstacles. Finally, a four-dimensional map is built up, that is, three dimensions determine the grid location and the fourth dimension describes the probability of existing obstacles. Simulation result shows that the proposed method can clearly express the obstacles' existing probability for each grid in indoor environment. © 2012 Binary Information Press