自动化学报2017，Vol.43Issue(8)：1393-1401,9.DOI:10.16383/j.aas.2017.c150777
适用于事件触发的分布式随机目标跟踪方法
Distributed Tracking Method for Maneuvering Targets with Event-triggered Mechanism
摘要
Abstract
This paper is concerned with distributed target tracking problem using RSSI method and presents a distributed tracking method for maneuvering targets with event-triggered wireless sensor networks (WSNs). Firstly process noise covariance with random parameter is introduced under consideration of modeling uncertainties, and then a modified square root cubature Kalman filter (SRCKF) is employed to generate local estimates. Secondly, the non-model-based CI fusion estimation method is employed to reduce the adverse effects of random process noise covariance. The method combines advantages of both model-based and non-model-based estimation methods in the case of inaccurate model and unreliable measurements. Simulation and experiment of the E-puck robot tracking show that the event-triggered mechanism can greatly reduce energy consumption and that the filtering method with random parameters is more suitable for maneuvering target tracking.关键词
事件触发/RSSI/随机目标跟踪/平方根容积卡尔曼滤波Key words
Event-triggered/received signal strength indication (RSSI)/maneuvering target tracking/square root cuba-ture Kalman filter (SRCKF)引用本文复制引用
杨旭升,张文安,俞立..适用于事件触发的分布式随机目标跟踪方法[J].自动化学报,2017,43(8):1393-1401,9.基金项目
国家自然科学基金(61273117, 61673351, 61573319), 浙江省自然科学基金(LR16F030005, LZ15F030003) 资助Supported by National Natural Science Foundation of China (61273117, 61673351, 61573319) and Zhejiang Provincial Natu-ral Science Foundation of China (LR16F030005, LZ15F030003) （61273117, 61673351, 61573319）
