一种基于EKF的双节点协作目标跟踪协议

A EKF-based Two-node Collaborative Target Tracking Protocol

无线传感器网络的目标跟踪应用中,动态跟踪组是一种有效的跟踪方式,但该方式下簇头的能耗较大,而且簇头失效易导致目标丢失.针对以上问题,本文对动态簇结构进行了改进,提出一种双节点协作跟踪协议TNCT,该协议通过簇头与辅助节点的协作实现目标变速时采样周期的自适应,以及簇头失效时的快速移交.为提高跟踪精度,辅助节点采用扩展卡尔曼滤波算法对目标轨迹进行估计和预测.仿真结果表明,TNCT协议下跟踪系统的网络能耗更加均衡,目标丢失概率大大降低.

In the target tracking application of WSN,dynamic tracking group is an effective way,however,the energy consumption of the cluster head(CH) is relatively high in this tracking mode,and the failure of the CH easily leads to loss of target.To solve the problem above,the dynamic cluster structure has been improved,and a two-node collaborative tracking protocol(TNCT) is proposed in this paper,by means of the CH's collaboration with the auxiliary node,TNCT implements the adaptive sampling period in response to the mutative speed of target,and the fast transfer of CH while it's invalid.To improve the tracking accuracy,the Extended Kalman Filter(EKF) algorithm is executed in the auxiliary node to evaluate and predict the target's trajectory.Simulation results show that the tracking system using TNCT achieves more balanced energy consumption,and the target loss probability is greatly reduced.