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Underwater target cooperative tracking method based on consistency estimation and dormancy scheduling

An underwater target and consistent technology, applied in the direction of sound wave re-radiation, using re-radiation, measuring devices, etc., to achieve high accuracy

Active Publication Date: 2016-01-13
YANSHAN UNIV
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  • Claims
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Problems solved by technology

However, in the above method, the sensor node needs to be in the working scanning state all the time

Method used

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  • Underwater target cooperative tracking method based on consistency estimation and dormancy scheduling
  • Underwater target cooperative tracking method based on consistency estimation and dormancy scheduling
  • Underwater target cooperative tracking method based on consistency estimation and dormancy scheduling

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Embodiment 1

[0077] Embodiment 1: Using the consistency estimation algorithm, the underwater static and dynamic node perception and relay information are accurately processed, and then the target position information with a certain degree of confidence is obtained.

[0078] Then set the target t k and t k-1 Time position information p(t k ) and p(t k-1 ) to make a difference to get the moving speed v(t k ), and then predict the motion state of the target in the finite time domain p(t k ),…,p(t k+n ).

[0079] Combining the above predicted trajectory with the sensing area of ​​the sensor, determine the sensor node that needs to be activated in the next step. At the same time, considering the influence of underwater acoustic delay, the cycle duty cycle δ of each sensor node is set as follows

[0080] δ=(0.67·10 -3 r 0 ) / τ

[0081] In the formula, 0.67 is the underwater sound propagation delay coefficient, r 0 is the sensing radius.

[0082] From the above settings, it can be seen...

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Abstract

The invention discloses an underwater target cooperative tracking method based on consistency estimation and dormancy scheduling. The method comprises the following steps: disposing two types of underwater sensor nodes, and arranging that the nodes are at a dormancy state with a low-frequency reflection detection function at initial time; the dormancy sensor nodes periodically determining whether to be converted into an activation state; sensors entering a wakeup state sending water sound pulse signals for detecting a target and accordingly determine the position of the target; for the purpose of obtaining target position information with quite high precision, performing consistency estimation on observation information of the two kinds of nodes; and according to a predicted target motion locus, dynamically activating the sensors disposed at a target prediction path area, setting work cycle periods and duty ratios for the nodes, and at the same time, underwater dynamic sensors dynamically adjusting positions so as to realize continuous and dynamic tracking of the target. The method provided by the invention has the advantages of improving the target tracking precision, reducing the energy consumption, prolonging the network life and the like.

Description

technical field [0001] The invention relates to the technical field of intelligent control of underwater acoustic sensors, in particular to an underwater target collaborative tracking method based on consistency estimation and dormancy scheduling. Background technique [0002] The underwater moving target tracking system aims to discover targets in time and obtain data information to track suspicious moving targets. How to use underwater acoustic sensors to construct an efficient joint dynamic network through underwater acoustic communication has become the key to building an underwater moving target tracking system. [0003] From the prior art, it is found that the Chinese patent application number is 201410577717.2, and the name is: a robust underwater sensor network target tracking method, which uses the normal inverse gamma distribution model for measurement bias and Fergauss random measurement The noise is modeled to meet the target tracking requirements in the underwa...

Claims

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Application Information

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IPC IPC(8): G01S15/66
CPCG01S15/66
Inventor 闫敬杨晛张玮关新平罗小元李鑫滨
Owner YANSHAN UNIV
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