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Underwater moving target extended Kalman filtering tracking method based on distributed sensor energy ratios

An underwater moving target, distributed sensor technology, applied in instruments, measurement devices, radio wave measurement systems, etc., can solve the problems of high energy consumption, high precision, and small size of sensor nodes.

Active Publication Date: 2016-06-15
ZHEJIANG UNIV
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AI Technical Summary

Problems solved by technology

RSSI includes maximum likelihood positioning and least squares positioning, etc. The maximum likelihood method has high precision, high energy consumption, and a large amount of calculation. Due to the small size and limited energy of a single sensor node, energy saving is the primary consideration

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  • Underwater moving target extended Kalman filtering tracking method based on distributed sensor energy ratios
  • Underwater moving target extended Kalman filtering tracking method based on distributed sensor energy ratios
  • Underwater moving target extended Kalman filtering tracking method based on distributed sensor energy ratios

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Embodiment Construction

[0060] The present invention will be further described below in conjunction with the accompanying drawings and specific examples to verify the effectiveness of the present invention. figure 1 It is an underwater distributed sensor network tracking model, which is composed of moving targets, head nodes, active nodes and sleep nodes. In each positioning cycle of the algorithm, a certain number of sensor nodes within a certain range are adaptively activated, relying on multiple activation The sensors work together to locate and track moving targets. The specific implementation process is as follows:

[0061] Step 1: Set the target motion state model, observation model and marine environment parameters. The average sea depth is 28m. The ocean sound velocity gradient used is obtained from the shallow sea experiment in Zhoushan. The sensor network has M = 20 nodes, which are randomly deployed within the range of 6000*6000 at the depth of 28m. The sound source of the moving target ...

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Abstract

The invention discloses an underwater moving target extended Kalman filtering tracking method based on distributed sensor energy ratios. First logarithms of energy ratios of every two sensors are introduced as observation values, thereby obtaining an observation sequence of different moments; then based on the state of motion of a target, a nonlinear observation equation is converted into an approximately linear observation equation in an error-controllable range, and a linear state-space model is built; then an extended Kalman filtering sequential iterative solution algorithm of the state-space model is derived; a linear least squares (ER-LS) positioning algorithm is utilized to position the moving target which enters an underwater sensor network range, thereby obtaining an initial value of extended Kalman filtering; and finally, an underwater target motion trail with improved performance is obtained through sequential filtering.

Description

technical field [0001] The invention belongs to filter tracking technology under the framework of underwater sensor network, in particular to an extended Kalman filter tracking method under a specific state-space model. Background technique [0002] The ocean covers more than 70% of the earth and contains huge material resources. Due to the particularity of seawater, seawater absorbs radio waves and visible light too quickly and attenuates rapidly, so that long-distance transmission of energy cannot be realized, which restricts the application of these technologies in ocean detection and underwater target tracking. Acoustic waves are the only carrier that can carry out long-distance transmission underwater. Different propagation distances have different application scenarios. For example, high-resolution imaging can be performed with acoustic waves at the propagation distance of meters to hundreds of meters, and high-resolution imaging can be performed at the propagation dis...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/22
CPCG01S5/22
Inventor 王雯洁汪非易赵航芳
Owner ZHEJIANG UNIV
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