Cooperative shift estimation of target trajectory using clustered sensors |
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Authors: | Jiangping Hu Xiaoming Hu Tielong Shen |
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Institution: | 1. School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu, 611731, China 2. Optimization and Systems Theory and ACCESS Linnaeus Center, Royal Institute of Technology, Stockholm, Sweden 3. Department of Engineering and Applied Sciences, Sophia University, Tokyo, Japan
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Abstract: | In this paper, a mathematical model for target tracking using nonlinear scalar range sensors is formulated first. A time-shift sensor scheduling strategy is addressed on the basis of a k-barrier coverage protocol and all the sensors are divided into two classes of clusters, active cluster, and submissive cluster, for energy-saving. Then two types of time-shift nonlinear filters are proposed for both active and submissive clusters to estimate the trajectory of the moving target with disturbed dynamics. The stochastic stability of the two filters is analyzed. Finally, some numerical simulations are given to demonstrate the effectiveness of the new filters with a comparison of EKF. |
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Keywords: | Cluster sensor network target tracking time-shift estimation |
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