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
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[0077] Embodiment 1: Using the consistency estimation algorithm, the information of underwater static and dynamic node perception and relay is accurately processed, and then target position information with a certain degree of confidence is obtained.
[0078] Then set the target t k and t k-1 The position information at time p(t k ) and p(t k-1 ) to make a difference, and get the moving speed v(t of the moving target k ), and then predict the motion state p(t of the target in the limited time domain k ),…,p(t k+n ).
[0079] The above predicted trajectory is combined with the sensor perception area to 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 duty cycle δ of each sensor node is set as follows
[0080] δ=(0.67·10 -3 ·r 0 ) / τ
[0081] where 0.67 is the underwater acoustic propagation delay coefficient, r 0 is the sensing radius.
[0082] It can be seen from the ...
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