Localisation in wireless networks faces challenges such as high levels of signal attenuation and unknown path-loss exponents, especially in urban environments. In response to these challenges, this paper proposes solutions to localisation problems in noisy environments. A new observation model for localisation of static nodes is developed based on hybrid measurements, namely angle of arrival and received signal strength data. An approach for localisation of sensor nodes is proposed as a weighted linear least squares algorithm. The unknown path-loss exponent associated with the received signal strength is estimated jointly with the coordinates of the sensor nodes via the generalised pattern search method. The algorithm’s performance validation is conducted both theoretically and by simulation. A theoretical mean square error expression is derived, followed by the derivation of the linear Cramer-Rao bound which serves as a benchmark for the proposed location estimators. Accurate results are demonstrated with 25%–30% improvement in estimation accuracy with a weighted linear least squares algorithm as compared to linear least squares solution.

In this study, the authors introduce a novel hybrid cooperative localisation scheme when both distance and angle measurements are available. Two linear least squares (LLS) hybrid cooperative schemes based on angle of arrival–time of arrival (AoA–ToA) and AoA–received signal strength (AoA–RSS) signals are proposed. The proposed algorithms are modified to accommodate cooperative localisation in resource constrained networks where only distance measurements are available between target sensors (TSs) while both distance and angle measurements are available between reference sensors and TSs. Furthermore, an optimised version of the LLS estimator is proposed to further enhance the localisation performance. Moreover, localisation of sensor nodes in networks with limited connectivity (partially connected networks) is also investigated. Finally, computational complexity analysis of the proposed algorithms is presented. Through simulation, the superior performance of the proposed algorithms over its non‐cooperative counterpart and the hybrid signal based iterative non‐linear least squares algorithms is demonstrated.

Tracking of wireless nodes such as robots in wireless sensor network (WSN) has been widely studied in literature. Most of these studies are based on the Kalman filter (KF) for linear models corrupted by Gaussian noise, the extended Kalman filter (EKF) for non linear models and the particles filter (PF) which does no require the model o be linear nor the noise be Gaussian. In his paper, we present a comparative study of mobile target node (TN) racking via the KF, EKF and PF based on the received power of the signal. A constant velocity model is considered for the motion of TN, depicting an indoor environment. The performance of the filters are compared in terms of the root mean square error (RMSE). Extensive simulations are performed to evaluate the performance of the discussed filters.

Localization has been one of the most highly researched topics in wireless communications in the past decade. Localization of wireless nodes can be achieved using a variety of techniques, in which range measurement and angle measurement are most commonly used. In the presence of both angle and range measurement, a hybrid model can be developed. In this paper we analyze a hybrid angle of arrival-time of arrival (AoA-ToA) model for localization of wireless nodes, the model is modified to remove the bias from the estimated positions. We also explore the idea of cooperative localization using both angle and range measurements and develop a linear least squares (LLS) scheme. It is shown via simulation that the modified model is unbiased and that the performance of the proposed cooperative LLS is superior to its non-cooperative counterpart.

Identifying precursor events that allow the timely forecasting of landslides, thereby enabling risk reduction, is inherently difficult. Here we present a novel, low cost, flow visualization technique using time-lapsed imagery (TLI) that allows real time analysis of slope movement. This approach is applied to the Rest and Be Thankful slope, Argyle, Scotland, where past debris flows have blocked the A83 or forced preemptive closure. TLI of the Rest and Be Thankful are taken from a fixed station, 28 mm lens, time lapse camera every 15 min. Imagery is filtered to counter the effects of misalignment from wind induced vibration of the camera, asymmetric lighting, and fog. Particle image velocimetry (PIV) algorithms are then run to produce slope movement velocity vectors. PIV generated vectors are automatically post-processed to separate vectors generated by slope movement from false positives generated by harsh environmental conditions. Results for images over a 20-day period indicated precursor slope movement initiated by a rainfall event, a period of quiescence for 10 days, followed by a large landslide failure during proceeding rainfall where over 3000 tons of sediment reached the road. Results suggest low cost, live streamed TLI and this novel PIV approach correctly detect and, importantly, report precursor slope movement, allowing early warning, effective management and landslide impact mitigation. Future applications of this technique will allow the development of an effective decision-making tool for asset management of the A83, reducing the risk to life of motorists. The technique can also be applied to other critical infrastructure sites, allowing hazard risk reduction.

Rapid shallow landslides are a significant hillslope erosion mechanism and limited understanding of their initiation and development results in persistent risk to infrastructure. Here, we analyse the slope above the strategic A83 Rest and be Thankful road in the west of Scotland. An inventory of 70 landslides (2003–2020) shows three types of shallow landslide, debris flows, creep deformation, and debris falls. Debris flows dominate and account for 5,350 m³ (98%) of shallow-landslide source volume across the site. We use novel time-lapse vector tracking to detect and quantify slope instabilities, whilst seismometers demonstrate the potential for live detection and location of debris flows. Using on-slope rainfall data, we show that shallow-landslides are typically triggered by abrupt changes in the rainfall trend, characterised by high-intensity, long duration rainstorms, sometimes part of larger seasonal rainfall changes. We derive empirical antecedent precipitation (>62 mm) and intensity-duration (>10 h) thresholds over which shallow-landslides occur. Analysis shows the new thresholds are more effective at raising hazard alerts than the current management plan. The low-cost sensors provide vital notification of increasing hazard, the initiation of movement, and final failure. This approach offers considerable advances to support operational decision-making for infrastructure threatened by complex slope hazards.