一种海面目标定位跟踪方法

针对海面可疑目标定位跟踪问题,提出在海面部署无线传感器网络。通过已知节点与未知节点之间的位置关系,估计出未知节点的位置坐标;建立跟踪质点与目标的误差系统方程,考虑网络延时,分为理想和有海浪干扰两种情况:理想情况下,给出系统渐近稳定的条件,并通过定义李雅普诺夫函数和Schur定理进行证明,求解线性矩阵不等式,得到控制器,使系统渐近稳定;当系统存在海浪干扰时,给出H∞控制的条件,并证明此条件下,控制器可使系统渐近稳定,由此实现对目标的跟踪。数值仿真验证了所设计定位跟踪方法的有效性。

A Method of Surface Target Location and Tracking Control

On the surface of the suspicious target tracking problem, deploy the wireless sensor network (WSN), by the relationship of known and unknown nodes, Sthe unknown node location coordinates can be estimated; the error system of tracking node and target is established, the time delay of network has been considered. Divided into ideal and wave disturbance there are two kinds: ideally, given the conditions of the system asymptotically stable, and by defining the lyapunov function and Schur theorem to prove it, to solve the linear matrix inequality (LMI) and achieve the controller to make the system asymptotically stable; When the system exists the wave interference, condition of controller had been proved, the controller can realize gradual stability of the system, thus to realize target tracking. Numerical simulation verified the effectiveness of the designed controller.