基于Kalman滤波的无线传感器网络多目标跟踪

Multi-target Tracking Based on Kalman Filter and WSN

设计无线传感器网络多目标跟踪系统,分析系统跟踪性能的影响因素,提出基于单点观测的扩展卡尔曼滤波(Extended Kalman Filter,EKF)算法和基于Kalman滤波算法预测功能的节点自适应调度策略,并引入多种事件辅助机制。实验结果表明,该算法和调度策略能够实现多目标实时跟踪,且具有减少计算量、缩短测量周期、降低能量消耗、提高跟踪精度等优点。

A design scheme of multi-target real-time tracking system is presented and factors affecting tracking performance are analyzed.A kind of Extended Kalman Filter （EKF）algorithm based on single observation and self-adaptive node scheduling scheme based on the function of the EKF algorithm is pro-posed.In addition,many mechanisms and strategies are introduced as auxiliary for trajectory tracking. The experimental result validates the good performance of the tracking algorithm and node scheduling strategy.It has advantages of reducing calculation and energy consumption,shortening measurement peri-od and improving tracking precision.