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Optimal target trajectory estimation and filtering using networked sensors
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0003-0177-1993
2008 (English)In: Journal of Systems Science and Complexity, ISSN 1009-6124, E-ISSN 1559-7067, Vol. 21, no 3, 325-336 p.Article in journal (Refereed) Published
Abstract [en]

Target tracking using distributed sensor network is in general a challenging problem because it always needs to deal with real-time processing of noisy information. In this paper the problem of using nonlinear sensors such as distance and direction sensors for estimating a moving target is studied. The problem is formulated as a prudent design of nonlinear filters for a linear system subject to noisy nonlinear measurements and partially unknown input, which is generated by an exogenous system. In the worst case where the input is completely unknown, the exogenous dynamics is reduced to the random walk model. It can be shown that the nonlinear filter will have optimal convergence if the number of the sensors are large enough and the convergence rate will be highly improved if the sensors are deployed appropriately. This actually raises an interesting issue on active sensing: how to optimally move the sensors if they are considered as mobile multi-agent systems? Finally, a simulation example is given to illustrate and validate the construction of our filter.

Place, publisher, year, edition, pages
2008. Vol. 21, no 3, 325-336 p.
Keyword [en]
optimal filter, sensor network, target tracking
National Category
Computational Mathematics
URN: urn:nbn:se:kth:diva-17813DOI: 10.1007/s11424-008-9116-8ISI: 000259101600001ScopusID: 2-s2.0-48449104529OAI: diva2:335858

QC 20100525

Available from: 2010-08-05 Created: 2010-08-05 Last updated: 2016-05-30Bibliographically approved

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Hu, JiangpingHu, Xiaoming
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Optimization and Systems TheoryCentre for Autonomous Systems, CASACCESS Linnaeus Centre
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