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基于贝叶斯理论框架的传感器选择算法

郭军军 韩崇昭

郭军军, 韩崇昭. 基于贝叶斯理论框架的传感器选择算法. 自动化学报, 2018, 44(8): 1425-1435. doi: 10.16383/j.aas.2017.c160458
引用本文: 郭军军, 韩崇昭. 基于贝叶斯理论框架的传感器选择算法. 自动化学报, 2018, 44(8): 1425-1435. doi: 10.16383/j.aas.2017.c160458
GUO Jun-Jun, HAN Chong-Zhao. A Novel Sensor Selection Approach With Bayes Framework for Target Tracking. ACTA AUTOMATICA SINICA, 2018, 44(8): 1425-1435. doi: 10.16383/j.aas.2017.c160458
Citation: GUO Jun-Jun, HAN Chong-Zhao. A Novel Sensor Selection Approach With Bayes Framework for Target Tracking. ACTA AUTOMATICA SINICA, 2018, 44(8): 1425-1435. doi: 10.16383/j.aas.2017.c160458

基于贝叶斯理论框架的传感器选择算法

doi: 10.16383/j.aas.2017.c160458
基金项目: 

国家自然科学基金 61221063

国家重点基础研究发展计划(973计划) 2013CB329405

国家自然科学基金 61370037

国家自然科学基金 61573271

国家自然科学基金 61573276

详细信息
    作者简介:

    韩崇昭 西安交通大学电子与信息工程学院教授.主要研究方向为多源信息融合, 随机控制与自适应控制, 非线性频谱分析.E-mail:czhan@mail.xjtu.edu.cn

    通讯作者:

    郭军军 西安交通大学电子与信息工程学院综合自动化研究所博士研究生.主要研究方向为目标跟踪和传感器选择.本文通信作者.E-mail:guojjgb@163.com

A Novel Sensor Selection Approach With Bayes Framework for Target Tracking

Funds: 

National Natural Science Foundation of China 61221063

National Basic Research Program of China (973 Program) 2013CB329405

National Natural Science Foundation of China 61370037

National Natural Science Foundation of China 61573271

National Natural Science Foundation of China 61573276

More Information
    Author Bio:

    Professor at the School of Electronic and Information Engineering, Xi'an Jiaotong University. His research interest covers multi-source information fusion, stochastic control and adaptive control, and nonlinear spectral analysis

    Corresponding author: GUO Jun-Jun Ph.D.candidate at the Institute of Integrated Automation, School of Electronic and Information Engineering, Xi'an Jiaotong University.His research interest covers target tracking and sensor selection.Corresponding author of this paper
  • 摘要: 针对大规模传感器网络(Large-scale sensor networks)的目标跟踪问题, 本文在贝叶斯(Bayes)框架下, 提出了一种全新的基于传感器选择的多传感器目标跟踪算法.算法的具体思路为:首先基于Bayes框架, 根据不同的管理目标, 推导出传感器选择的目标函数; 然后根据目标函数, 计算出相应的传感器选择方案; 最后将选择的传感器进行数据融合, 求得传感器网络的目标跟踪结果.相比传统的基于量测野值点剔除思想的目标跟踪算法以及基于系统偏差估计的传感器配准算法, 本文提出的基于传感器选择的多传感器目标跟踪算法不仅目标跟踪精度更高, 且跟踪性能更稳定.同时本文提出的传感器选择算法还可以适用于杂波数目较少的目标跟踪场景.仿真结果说明了本文所提算法的有效性.
    1)  本文责任编委 潘泉
  • 图  1  传感器网络仿真场景

    Fig.  1  Geometry of the sensor network

    图  2  传感器系统偏差跳变变化情况

    Fig.  2  Sensors$'$ bias change via sampling time

    图  3  真实轨迹和估计轨迹

    Fig.  3  True trajectory and the estimated trajectories

    图  4  位置估计RMSE结果的对数值随时间的变化曲线

    Fig.  4  The logic RMSE results on target position via sampling time

    图  5  传感器选择概率随系统偏差的变化情况

    Fig.  5  Sensor selection probability via bias change

    图  6  RMSE随量测偏差的变化情况

    Fig.  6  RMSE via bias change magnitude

    图  7  真实轨迹和估计轨迹

    Fig.  7  True trajectories and the estimated trajectories

    图  8  空间目标状态位置估计的RMSE结果

    Fig.  8  RMSE results on target position estimation

    表  1  算法单次平均运行时间(基于100次蒙特卡洛仿真)

    Table  1  One run time of the proposed approaches (100 MC runs)

    对照算法 单次运行时间(s)
    文献[10]算法 25.488
    文献[11]算法 25.515
    文献[13]算法 38.998
    文献[9]算法 48.733
    本文算法 37.292
    传统算法 25.428
    下载: 导出CSV
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出版历程
  • 收稿日期:  2016-06-12
  • 录用日期:  2017-05-06
  • 刊出日期:  2018-08-20

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