Three-dimensional joint positioning and tracking method in mobile ad hoc sensor network

Abstract

The invention discloses a three-dimensional joint positioning and tracking method in a mobile ad hoc sensor network, and belongs to the technical field of sensor network communication. The method comprises the following steps: adopting a variation filtering algorithm for simultaneous positioning and tracking; separately establishing a hierarchical state evolution model in view of the randomness of the sensor and the unpredictability of target motion, and performing description in a three-dimensional space by using expanded Gaussian distribution, wherein the mean value and the variance are random variable and separately abide by independent distribution; performing target positioning and sensor tracking in the three-dimensional space at the same time by using the observation information between the sensors and between the sensor and the target; and it is proved that the variation filtering algorithm can be converged to Gaussian state estimation having the minimum actual distribution error from the theory. Meanwhile, by means of optimization state estimation and model parameters, the estimation accuracy is greatly improved, and the complexity of state description and unnecessary communication are avoided; and the joint positioning and tracking problem is solved.

Description

technical field [0001] The invention belongs to the technical field of sensor network communication, in particular to a three-dimensional joint positioning and tracking method in a mobile self-organizing sensor network. Background technique [0002] Wireless sensor network (Wireless Sensor Network, hereinafter referred to as WSN) represents a new way of signal observation, collection and distributed processing, and hundreds or even thousands of sensor nodes move freely in a large geographical area, and through Ad- The formation of a mobile ad hoc sensor network (Mobile Ad-hoc SensorNetwork, hereinafter referred to as MASN) in a hoc way greatly expands the application field of traditional static WSN. Through dynamic distributed detection, processing and dissemination of data, MASN can provide access to information anytime and anywhere. Due to its low cost, high reliability, flexibility and easy deployment, WASN has attracted military, industrial and academic circles in variou...

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Problems solved by technology

[0007] The purpose of the present invention is to propose a three-dimensional joint positioning and tracking method in a mobile self-organizing sensor network; it is characterized in that the method is a variational filtering algorithm for simultaneous positioning and tracking, which is used to solve the problem of low positioning accuracy and low positioning accuracy in current tracking and positioning systems. The problem of poor real-time performance and high algorithm complexity; for the variational filtering algorithm of two-dimensional positioning and tracking, it is extended to three-dimensional space by adding the third-dimensional coordinate calculation method, and the RSSI empirical attenuation model is used to reduce the impact of ranging errors on positioning results ; In three-dimensional space, first locate a certain number of anchor nodes with fixed positions. In order to improve the positioning accuracy, upgrade the located nodes to beacon nodes. If the number of neighbor beacon nodes of an unknown node is greater than three, directly use At the same time, a layered state evolution model is established for the randomness of the sensor and the unpredictability of the target movement, and the extended Gaussian distribution is used to describe it in three-dimensional space. The mean and variance are both random variables, respectively obeying Independent distribution, so that the random possibility of small probability is covered by the long tail to deal with the randomness of the sensor and the target; and by using the observation information between the sensors and between the sensor and the target, target positioning and Sensor tracking; the specific steps are as follows:

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