Low Power Spatial Localization of Mobile Sensors with Recurrent Neural Network

This work proposes a novel low power/area digital architecture for a Linear Program (LP) solver based on a recurrent (non-linear feedback) Neural Network (RNN), which is applied for spatial localization of sensors. Training data is not needed in our approach. We solve the primal and dual optimization problems for spatial localization with a single multi-functional data path which does not require matrix inversions. FPGA and ASIC implementations are presented which target a sensor (microrobot) localization problem in 2D using angle-of-arrival (AOA) measurements. The results show that the estimated locations (2D coordinates) are very close to the ground truth values in all tested scenarios. The proposed RNN has input and output layers, and a hidden layer with four neurons. FPGA implementation of the localizer in 180 nm process dissipates 180 mW of power at 1.5V and 31.25 MHz. When scaled to 128 neurons the performance is 13 Mop/sec/W for the same FPGA technology. The design has been also simulated in an ASIC 45 nm (PDK45 1V VDD) standard cell technology. With 128 neurons in the hidden layer the ASIC consumes 196.9 mW power at 516 MHz, which is equivalent to 677.165 Mop/sec/W.