Multitarget Tracking in Distributed Sensor Networks

In this article, a survey of techniques for tracking multiple targets in distributed sensor networks is provided and introduce some recent developments. The single target tracking in distributed sensor networks is reviewed. The tracking and resource management issues can be readily extended to MTT. The MTT problem is also briefly reviewed and describe the traditional approaches in centralized systems. Then focus on MTT in resource-constrained sensor networks and present two distinct example methods demonstrating how limited resources can be utilized in MTT applications. Finally, the most important remaining problems are discussed and suggest future directions     

Distributed fusion architectures and algorithms for target tracking

Modern surveillance systems often utilize multiple physically distributed sensors of different types to provide complementary and overlapping coverage on targets. In order to generate target tracks and estimates, the sensor data need to be fused. While a centralized processing approach is theoretically optimal, there are significant advantages in distributing the fusion operations over multiple processing nodes. This paper discusses architectures for distributed fusion, whereby each node processes the data from its own set of sensors and communicates with other nodes to improve on the estimates, The information graph is introduced as a way of modeling information flow in distributed fusion systems and for developing algorithms. Fusion for target tracking involves two main operations: estimation and association. Distributed estimation algorithms based on the information graph are presented for arbitrary fusion architectures and related to linear and nonlinear distributed estimation results. The distributed data association problem is discussed in terms of track-to-track association likelihoods. Distributed versions of two popular tracking approaches (joint probabilistic data association and multiple hypothesis tracking) are then presented, and examples of applications are given.     

基于传感器网络的多目标跟踪和特征管理方法

针对传感器网络下多目标跟踪时目标数量不断变化这一复杂情况,文中对多目标的跟踪和特征管理方法进行了研究。该方法由数据关联、多目标跟踪、特征管理,和信息融合所组成。其中未知数量多目标的跟踪和数据关联通过马尔科夫蒙特卡罗数据关联实现。通过信息融合来整合本地信息,获取所有相邻传感器的本地一致性,最终实现特征管理。试验证明,本方法能够在分布式的传感器网络环境下对多目标进行准确有效地跟踪和特征管理。     

Detection, classification, and tracking of targets

Networks of small, densely distributed wireless sensor nodes are being envisioned and developed for a variety of applications involving monitoring and the physical world in a tetherless fashion. Typically, each individual node can sense in multiple modalities but has limited communication and computation capabilities. Many challenges must be overcome before the concept of sensor networks In particular, there are two critical problems underlying successful operation of sensor networks: (1) efficient methods for exchanging information between the nodes and (2) collaborative signal processing (CSP) between the nodes to gather useful information about the physical world. This article describes the key ideas behind the CSP algorithms for distributed sensor networks being developed at the University of Wisconsin (UW). We also describe the basic ideas on how the CSP algorithms interface with the networking/routing algorithms being developed at Wisconsin (UW-API). We motivate the framework via the problem of detecting and tracking a single maneuvering target. This example illustrates the essential ideas behind the integration between UW-API and UW-CSP algorithms and also highlights the key aspects of detection and localization algorithms. We then build on these ideas to present our approach to tracking multiple targets that necessarily requires classification techniques becomes a reality     

Mobile-agent-based collaborative signal and information processing in sensor networks

In this paper, we develop an energy-efficient, fault-tolerant approach for collaborative signal and information processing (CSIP) among multiple sensor nodes using a mobile-agent-based computing model. In this model, instead of each sensor node sending local information to a processing center for integration, as is typical in client/server-based computing, the integration code is moved to the sensor nodes through mobile agents. The energy efficiency objective and the fault tolerance objective always conflict with each other and present unique challenge to the design of CSIP algorithms. In general, energy-efficient approaches try to limit the redundancy in the algorithm so that minimum amount of energy is required for fulfilling a certain task. On the other hand, redundancy is needed for providing fault tolerance since sensors might be faulty, malfunctioning, or even malicious. A balance has to be struck between these two objectives. We discuss the potential of mobile-agent-based collaborative processing in providing progressive accuracy while maintaining certain degree of fault tolerance. We evaluate its performance compared to the client/server-based collaboration from perspectives of energy consumption and execution time through both simulation and analytical study. Finally, we take collaborative target classification as an application example to show the effectiveness of the proposed approach.     

Joint multiple target tracking and classification in collaborative sensor networks

We address the problem of jointly tracking and classifying several targets within a sensor network where false detections are present. In order to meet the requirements inherent to sensor networks such as distributed processing and low-power consumption, a collaborative signal processing algorithm is presented. At any time, for a given tracked target, only one sensor is active. This leader node is focused on a single target but takes into account the possible existence of other targets. It is assumed that the motion model of a given target belongs to one of several classes. This class-target dynamic association is the basis of our classification criterion. We propose an algorithm based on the sequential Monte Carlo (SMC) filtering of jump Markov systems to track the dynamic of the system and make the corresponding estimates. A novel class-based resampling scheme is developed in order to get a robust classification of the targets. Furthermore, an optimal sensor selection scheme based on the maximization of the expected mutual information is integrated naturally within the SMC target tracking framework. Simulation results are presented to illustrate the excellent performance of the proposed multitarget tracking and classification scheme in a collaborative sensor network.     

Scheduling sensor activity for information coverage of discrete targets in sensor networks

In this paper, we study the problem of scheduling sensor activity to cover a set of targets with known locations such that all targets can be monitored all the time and the network can operate as long as possible. A solution to this scheduling problem is to partition all sensors into some sensor covers such that each cover can monitor all targets and the covers are activated sequentially. In this paper, we propose to provide information coverage instead of the conventional sensing disk coverage for target. The notion of information coverage is based on estimation theory to exploit the collaborative nature of geographically distributed sensors. Due to the use of information coverage, a target that is not within the sensing disk of any single sensor can still be considered to be monitored (information covered) by the cooperation of more than one sensor. This change of the problem settings complicates the solutions compared to that by using a disk coverage model. We first define the target information coverage (TIC) problem and prove its NP‐completeness. We then propose a heuristic to approximately solve our problem. Simulation results show that our heuristic is better than an existing algorithm and is close to the upper bound when only the sensing disk coverage model is used. Furthermore, simulation results also show that the network lifetime can be significantly improved by using the notion of information coverage compared with that by using the conventional definition of sensing disk coverage. Copyright © 2008 John Wiley & Sons, Ltd.     

Implementation of a Decentralised Sensing Network aboard Multiple UAVs

This paper presents real-time results of a decentralised airborne data fusion system tracking multiple ground based targets. These target estimates are then used to construct a composite map of the environment. A decentralised communication strategy which is robust to communication latencies and dropouts results in each sensing node having a local estimate using global information. In addition, this paper describes the hardware and algorithms for the sensing nodes used in this demonstration. The problems introduced by locating the sensing nodes on air vehicles are both interesting and challenging.     

Polytype target coverage scheme for heterogeneous wireless sensor networks using linear programming

Sensing coverage is one of fundamental problems in wireless sensor networks. In this paper, we investigate the polytype target coverage problem in heterogeneous wireless sensor networks where each sensor is equipped with multiple sensing units and each type of sensing unit can sense an attribute of multiple targets. How to schedule multiple sensing units of a sensor to cover multiple targets becomes a new challenging problem. This problem is formulated as an integer linear programming problem for maximizing the network lifetime. We propose a novel energy‐efficient target coverage algorithm to solve this problem based on clustering architecture. Being aware of the coverage capability and residual energy of sensor nodes, the clusterhead node in each cluster schedules the appropriate sensing units of sensor nodes that are in the active status to cover multiple targets in an optimal way. Extensive simulations have been carried out to validate the effectiveness of the proposed scheme. Copyright © 2012 John Wiley & Sons, Ltd.     

Distributed Group Management in Sensor Networks: Algorithms and Applications to Localization and Tracking

The tradeoff between performance and scalability is a fundamental issue in distributed sensor networks. In this paper, we propose a novel scheme to efficiently organize and utilize network resources for target localization. Motivated by the essential role of geographic proximity in sensing, sensors are organized into geographically local collaborative groups. In a target tracking context, we present a dynamic group management method to initiate and maintain multiple tracks in a distributed manner. Collaborative groups are formed, each responsible for tracking a single target. The sensor nodes within a group coordinate their behavior using geographically-limited message passing. Mechanisms such as these for managing local collaborations are essential building blocks for scalable sensor network applications.     

分布式无线传感网络的协作目标跟踪策略

基于图像序列的目标跟踪是目标跟踪的重要研究问题之一.由于受图像解析度和跟踪范围限制,单视角跟踪准确性和鲁棒性不足.本文提出了分布式无线传感网络测量环境下的多视角协作融合跟踪方法,并引入了渐进分布式数据融合,采用基于能耗参数和信息有效性参数的综合优化函数动态选择融合节点,规划融合过程,平衡融合精度与网络能耗.通过目标跟踪准确性、网络能耗及传输延时对比实验表明:基于渐进分布式数据融合的协作信号处理方法提高了分布式多视角跟踪的准确性与实时性,减少了网络拥塞,降低了通讯能耗及延时.     

Search and discovery in an uncertain networked world

This paper identifies two classes of sensor network problems that arise naturally in many applications. Fusion problem involves correlated data over the sensor network, while search/sensor selection involves selecting sensors that have useful information. The paper also describes an adaptive decision making system, which feeds back the previous decisions of the sensor network to make more informed decisions in the succeeding steps of the algorithm. The ideas that are developed for fusion problems proved to be useful in successfully executing the described algorithm. Problems such as target tracking in clutter and sensor selection can be fitted into the framework of this class.     

基于APF的二元WSN运动目标跟踪算法

针对传感节点计算、通信及资源受限的特点,引入二元WSN模型,提出了一种基于辅助粒子滤波(APF)的集中式算法,以实现运动目标的实时跟踪。由于每个二元传感器只对目标是否进入其感知区域做出反应(向数据融合中心报告0或1),粒子滤波算法的复杂运算集中在融合中心完成,因此节点结构简单、通信代价低廉,有助于延长监测网络的生存周期。仿真实验结果表明,该算法对随机部署和规则部署的两种方案,均具有良好的跟踪性能,能满足一般机动目标实时跟踪的应用要求。     

一种高效的分布式多传感器多目标跟踪算法

现有的多传感器多目标跟踪算法大都基于马尔科夫-贝叶斯模型,需要诸如目标运动、杂波、传感器检测概率等先验信息,但是在恶劣的环境中,这些先验信息不准确并导致目标跟踪精度下降.为了解决该情况下的多目标跟踪问题,我们提出了一个高效的分布式多目标跟踪算法,该算法通过泛洪(Flooding)共识算法在分布式网络的传感器之间迭代的传...     

Application of the EM algorithm for the multitarget/multisensortracking problem

An important problem in surveillance and reconnaissance systems is the tracking of multiple moving targets in cluttered noise environments using outputs from a number of sensors possessing wide variations in individual characteristics and accuracies. A number of approaches have been proposed for this multitarget/multisensor tracking problem ranging from reasonably simple, though ad hoc, schemes to fairly complex, but theoretically optimum, approaches. In this paper, we describe an iterative procedure for time-recursive multitarget/multisensor tracking based on use of the expectation-maximization (EM) algorithm. More specifically, we pose the multitarget/multisensor tracking problem as an incomplete data problem with the observable sensor outputs representing the incomplete data, whereas the target-associated sensor outputs constitute the complete data. Target updates at each time use an EM-based approach that calculates the maximum a posteriori (MAP) estimate of the target states, under the assumption of appropriate motion models, based on the outputs of disparate sensors. The approach uses a Markov random field (MRF) model of the associations between observations and targets and allows for estimation of joint association probabilities without explicit enumeration. The advantage of this EM-based approach is that it provides a computationally efficient means for approaching the performance offered by theoretically optimum approaches that use explicit enumeration of the joint association probabilities. We provide selected results illustrating the performance/complexity characteristics of this EM-based approach compared with competing schemes     

Distributed Mobility Management for Target Tracking in Mobile Sensor Networks

Mobility management is a major challenge in mobile ad hoc networks (MANETs) due in part to the dynamically changing network topologies. For mobile sensor networks that are deployed for surveillance applications, it is important to use a mobility management scheme that can empower nodes to make better decisions regarding their positions such that strategic tasks such as target tracking can benefit from node movement. In this paper, we describe a distributed mobility management scheme for mobile sensor networks. The proposed scheme considers node movement decisions as part of a distributed optimization problem which integrates mobility-enhanced improvement in the quality of target tracking data with the associated negative consequences of increased energy consumption due to locomotion, potential loss of network connectivity, and loss of sensing coverage.     

Security and Privacy for Distributed Multimedia Sensor Networks

There is a critical need to provide privacy and security assurances for distributed multimedia sensor networking in applications including military surveillance and healthcare monitoring. Such guarantees enable the widespread adoption of such information systems, leading to large-scale societal benefit. To effectively address protection and reliability issues, secure communications and processing must be considered from system inception. Due to the emerging nature of broadband sensor systems, this provides fertile research ground for proposing more paradigm-shifting approaches. This paper discusses issues in designing for security and privacy in distributed multimedia sensor networks. We introduce the heterogeneous lightweight sensornets for trusted visual computing framework for distributed multimedia sensor networks. Protection issues within this architecture are analyzed, leading to the development of open research problems including secure routing in emerging free-space optical sensor networks and distributed privacy for vision-rich sensor networking. Proposed solutions to these problems are presented, demonstrating the necessary interaction among signal processing, networking, and cryptography.     

基于分布式压缩感知的高分宽幅SAR动目标成像技术

高分宽幅SAR动目标成像对目标跟踪具有重要的意义,常规天基多通道SAR技术要实现高分宽幅动目标成像需要通道数量巨大,系统复杂度过高,而且图像在方位向存在成对回波,形成虚警。针对上述问题,该文提出了一种基于分布式压缩感知的高分宽幅SAR动目标成像技术,在通道数量较大时,通道数量相比常规高分宽幅动目标成像构型通道数量约降低1倍,利用动目标稀疏特性和杂波背景非稀疏特性构建分布式压缩感知观测模型,采用先方位1维分布式压缩感知重建再距离方位2维分布式压缩感知重建,实现杂波背景和稀疏动目标的重建,并抑制多通道SAR动目标成像中的成对回波。结合RADAR-SAT数据的仿真试验结果验证了该技术的有效性。