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针对水下被动目标跟踪的非高斯噪声环境和弱可观性的特点,提出了将粒子滤波算法应用于水下被动目标跟踪的思路.该算法直接利用传感器获得的含有噪声的角度数据,通过改进极坐标系下的系统方程得到目标状态的后验概率分布,来估计目标的运动状态.仿真结果表明该算法提高了滤波的稳定性,跟踪精度优于扩展卡尔曼滤波算法和无迹卡尔曼滤波算法. 相似文献
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本文提出了一种直接把红外前视传感器的输出作为测量值来跟踪红外目标的扩展型卡尔曼滤波跟踪算法。在滤波处理时,设置可变的测量矩阵,其目的在于提高运算速度和抑制噪声干扰。通过具体的实例,对所提跟踪算法的特点和有效性进行了细致的分析。 相似文献
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为了解决"基于卡尔曼滤波的神经网络算法"由于目标模型不确定性而出现的预测信息不准确,甚至发散的问题以及由于传感器误差而造成的估计误差偏大导致跟踪失效的问题,提出将强跟踪滤波(STF)应用于人工神经网络算法中,以神经网络中各层连接权值构成STF滤波的状态向量,引入时变渐消因子,强迫残差具有正交性或近似正交性,以克服上述问题.实验仿真证明,改进后的算法提高了网络训练速度、滤波精度、数值稳定性以及对目标的跟踪性能. 相似文献
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针对非线性的目标跟踪采用了基于模糊聚类和粒子滤波的混合跟踪算法,取得了优于卡尔曼滤波跟踪的良好效果.首先利用模糊C均值聚类算法对采集的数据进行基于目标的隶属度的分类,然后利用粒子滤波算法对目标进行位置估计.仿真结果表明:非线性视频跟踪中混合算法对目标的跟踪效果要好于卡尔曼滤波算法,降低了跟踪误差. 相似文献
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被动传感器阵列中基于粒子滤波的目标跟踪 总被引:1,自引:1,他引:0
针对被动传感器阵列中的机动目标跟踪问题,该文提出了一种基于多模Rao-Blackwellized粒子滤波的机动目标跟踪新方法。算法首先基于Rao-Blackwellization理论将机动目标跟踪问题划分为模型选择和目标跟踪两个子问题;采用多模Rao-Blackwellized粒子滤波对目标运动模型进行选择,扩展Kalman滤波对目标进行更新,有效降低了抽样粒子状态维数,节省了计算时间;最后,建立了被动传感器阵列的非线性观测模型。实验结果表明,提出方法可以有效地对目标模型进行选择,算法的跟踪性能及稳定性要好于交互多模型(IMM)方法。 相似文献
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信息融合技术是毫米波/红外复合制导的关键技术之一,其中目标跟踪算法的优劣直接决定了系统的性能.针对毫米波与红外复合制导的目标跟踪,首先对毫米波传感器和红外传感器的量测数据进行了融合,并提出了一种改进的跟踪滤波算法.该跟踪算法能根据目标的机动情况实时获得滤波增益,并及时调整滤波方程,从而获得良好的跟踪效果.最后对目标的直线运动和改变航向的直线运动进行了仿真分析.仿真结果表明,与其它滤波算法相比,该算法的跟踪效果良好,跟踪精度较高且计算量少. 相似文献
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为了提高运动目标的跟踪精度,提出一种基于强跟踪滤波的传感器目标跟踪算法.首先通过传感器节点测量目标的状态值,并通过融合中心对信息进行融合,然后利用Cholesky分解技术变换成噪声独立的量化融合系统,并采用强跟踪滤波算法对目标状态进行估计,最后与其它目标跟踪算法进行对比实验.结果表明,本文算法不仅提高了目标跟踪的精度,而且具有更好的鲁棒性. 相似文献
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Target tracking is one of the most important applications of wireless sensor networks. Optimized computation and energy dissipation are critical requirements to save the limited resource of sensor nodes. A new robust and energy-efficient collaborative target tracking framework is proposed in this article. After a target is detected, only one active cluster is responsible for the tracking task at each time step. The tracking algorithm is distributed by passing the sensing and computation operations from one cluster to another. An event-driven cluster reforming scheme is also proposed for balancing energy consumption among nodes. Observations from three cluster members are chosen and a new class of particle filter termed cost-reference particle filter (CRPF) is introduced to estimate the target motion at the cluster head. This CRPF method is quite robust for wireless sensor network tracking applications because it drops the strong assumptions of knowing the probability distributions of the system process and observation noises. In simulation experiments, the performance of the proposed collaborative target tracking algorithm is evaluated by the metrics of tracking precision and network energy consumption. 相似文献
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针对多传感器系统存在观测数据过多,数据融合中心处理负担过重的问题,在引入一种基于传感器观测数据序贯处理的最优异步融合算法的基础上,提出一种基于目标协方差控制的传感器选择算法对异步观测数据进行优化组合,从而实现以最小的计算量达到所要求的目标状态估计精度。最后的仿真结果证明了该算法的有效性和可行性。 相似文献
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利用无线传感器网络进行目标跟踪时,由于各传感器节点的能量有限,数据蕴含的有效信息又各不相同,因此有必要规划参与目标跟踪的节点集和参与方式,以降低系统开销。本文提出了一种新的基于领导节点的节点规划算法,综合考虑收集数据和领导节点迁移过程中的通信开销,以最大化目标跟踪的性能。求解中以跟踪过程中的误差矩阵作为目标度量,采用高斯-赛德尔(Gauss-Seidel)和凸松弛等方法,使得复杂的带约束优化问题能够在接近O(N3)的时间复杂度内得到求解。仿真结果表明,与对比算法相比,本算法在相同的通信能量约束下能够达到更好的跟踪性能。 相似文献
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In this paper, we address the problem of genetic algorithm optimization for jointly selecting the best group of candidate sensors and optimizing the quantization for target tracking in wireless sensor networks. We focus on a more challenging problem of how to effectively utilize quantized sensor measurement for target tracking in sensor networks by considering best group of candidate sensors selection problem. The main objective of this paper is twofold. Firstly, the quantization level and the group of candidate sensors selection are to be optimized in order to provide the required data of the target and to balance the energy dissipation in the wireless sensor network. Secondly, the target position is to be estimated using quantized variational filtering (QVF) algorithm. The optimization of quantization and sensor selection are based on the Fast and Elitist Multi-objective Genetic Algorithm (NSGA-II). The proposed multi-objective (MO) function defines the main parameters that may influence the relevance of the participation in cooperation for target tracking and the transmitting power between one sensor and the cluster head (CH). The proposed algorithm is designed to: i) avoid the problem lot of computing times and operation counts, and ii) reduce the communication cost and the estimation error, which leads to a significant reduction of energy consumption and an accurate target tracking. The computation of these criteria is based on the predictive information provided by the QVF algorithm. The simulation results show that the NSGA-II -based QVF algorithm outperforms the standard quantized variational filtering algorithm and the centralized quantized particle filter. 相似文献
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Target tracking is one of the main applications of wireless sensor networks. Optimized computation and energy dissipation are critical requirements to save the limited resource of the sensor nodes. A framework and analysis for collaborative tracking via particle filter are presented in this paper Collaborative tracking is implemented through sensor selection, and results of tracking are propagated among sensor nodes. In order to save communication resources, a new Gaussian sum particle filter, called Gaussian sum quasi particle filter, to perform the target tracking is presented, in which only mean and covariance of mixands need to be communicated. Based on the Gaussian sum quasi particle filter, a sensor selection criterion is proposed, which is computationally much simpler than other sensor selection criterions. Simulation results show that the proposed method works well for target tracking. 相似文献