基于无线传感器网络的目标跟踪研究

基于无线传感器网络的目标跟踪-i-摘要随着通信技术、嵌入式技术、微机电系统、传感器技术的迅速发展，具有一定感知能力、计算能力和通信能力的无线传感器开始出现，其应用受到业界的广泛关注。目标跟踪被广泛应用于军事、民用各个方面，如监控、导航、障碍规避系统等。它的主要目的是确定目标的位置，个数，运动方向等。随着无线传感器的发展，基于无线传感器网络实现目标跟踪成为了一个研究热点。本文针对传感器节点之间数据融合的问题，引入了粒子滤波算法。在解决目标跟踪这种非线性非高斯噪声问题中，粒子滤波算法具有很好的表现。本文同时将目标跟踪的问题模型化，并将滤波算法应用其中，给出了目标跟踪的算法。针对该模型的各个节点存在的协作问题，本文分析了一种分布式的网络模型。同时讨论了无线传感器节点的功耗问题。如何建模目标跟踪问题、以及构架目标跟踪系统是本文研究的主要工作。本文的主要研究工作包括：首先，针对粒子滤波算法进行了系统的分析，讨论了粒子滤波存在的问题及解决方案，并分析比较了几种常见的粒子滤波算法。其次，分析目标跟踪问题中目标移动的几何特性，根据这些几何特性，将目标跟踪问题转化为线性规划问题，即给出了几个约束条件，在这些约束条件下运用粒子滤波算法实现目标跟踪。再次，从无线传感器网络实现的角度，讨论了无线传感器节点各个模块的功耗问题，针对各个模块的特点给出了相应的解决方案；同时分析了无线传感器网络实现目标跟踪算法的网络模型。最后，给出了各个算法的模拟与仿真，并对仿真结果进行分析验证。基于无线传感器网络的目标跟踪应用具有很大的潜力，有待进一步的研究和探索。在本文的结尾部分，对基于无线传感器网络的目标跟踪进行了总结和展望。关键字：无线传感器网络，目标跟踪，粒子滤波，功耗控制基于无线传感器网络的目标跟踪-ii-AbstractRecentadvancesinthecommunications,embeddedsystem,micro-electro-mechanicalsystems(MEMS),andsensortechnologyhaveenabledtheappearanceofwirelesssensors,whichhavetheabilityofapperception,computation,andcommunication.Comparedwithtraditionalsensor,Wirelesssensorsaresmallinsize,low-cost,andlowpower.Targettracking,whichaimsatconfirmingtheposition,numberandmovementdirectionoftargetisnowpopularlyusedinmilitaryandcivilaspects,suchasmonitorandcontrol,navigationandsoon.Withthedevelopmentofwirelesssensor,targettrackingbasedonwirelesssensornetworkhasbeenhotpoint.Thisdissertationintroducesparticlefilterintotheproblemofdatafusebetweensensornodes.Particlefiltermakesagoodperformanceinsolvingsuchnonlinear/non-Gaussianproblemastargettracking.Thisdissertationalsomakesamodelingoftargettracking,appliesparticlefilterintoit,andprovidesthealgorithmoftargettracking.Astothecollaborationofeachnodeinthemodeling,thisdissertationanalyzesadistributednetworkprotocolandthepowerconsumptionofwirelesssensornodes.Therefore,howtomodelingtargettrackingproblemandbuildingtarget-trackingsystemisthemaintaskofthisdissertation.Themainresearchworkofthisdissertationincludes:firstly,generallyanalyzestheparticlefilter,discussesitspotentialquestionsandpossiblesolutionsandprovidesseveralfamiliaralgorithms.Secondly,accordingtothecharacteristicofgeometryanalyzed,thetarget-trackingproblemcanbeconvertedtolinearlayout,whichisthesameasseveralrestrictconditions.Thetargettrackingsystemcanbeimplementedundertheseconditions.Thirdly,fromthepointofviewofrealizingthewirelesssensornetwork,thisdissertationdeeplystudiesthepowerconsumptionofeachmoduleofwirelesssensornode,andprovidesthecorrespondingsolutions.Itanalyzestheapplicationlayerprotocoloftargettrackinginwirelesssensornetwork.Finally,thisdissertationgivesthesimulationandemulationofeachalgorithm,andvalidatestheresultofemulation.Itisworthwhiletodothefurtherresearchontargettrackingbasedonwirelesssensornetworkbecauseofitsenormouspotentials.Attheendofthethesis,itdescribesthebright基于无线传感器网络的目标跟踪-iii-prospectsoftargettrackingbasedonwirelesssensornetwork.Keywords:wirelesssensornetwork,targettracking,particlefilter,powerconsumption基于无线传感器网络的目标跟踪-iv-目录第一章绪论..............................................................................................................................11.1应用背景及其研究目标....................................................................................................11.2目前研究现状....................................................................................................................31.3本文的研究重点和组织方式............................................................................................4第二章粒子滤波基本理论...........................................................................................................62.1多传感器的数据融合........................................................................................................62.2状态空间模型....................................................................................................................92.3贝叶斯滤波理论..............................................................................................................102.4蒙特卡罗方法.................................................................................................................122.5粒子滤波算法.................................................................................................................142.6小结..................................................................................................................................26第三章目标跟踪模型.................................................................................................................273.1模型的假设.....................................................................................................................273.2几何特性.........................................................................................................................273.3线性规划.........................................................................................................................313.4连续时间特性.................................................................................................................323.5实现..........................................................................................