无线传感器网络基于节点选择的目标定位跟踪算法及其应用研究
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摘要
随着无线通信技术、微机电系统和传感技术的迅速发展,无线传感器网络的应用领域已经越来越广泛。传感器网络通常由体积小、价格低廉的传感器节点构成,这些节点具有信息收集、处理、存储和转发的能力。无线传感器网络可以应用在环境监测、战场监视和状态检修等方面,而在众多应用中,目标定位和跟踪一直是无线传感器网络应用研究的重点。如何提高移动目标的定位和跟踪准确度、改善无线传感器网络的能量有效性是基于无线传感器网络的移动目标定位和跟踪研究的关键技术。
论文首先介绍了目标定位跟踪模型,然后详细介绍了几种目标定位算法。论文在分别比较已有的几种目标定位算法的基础上,重点分析了利用节点间连线的垂线来确定目标的位置的垂线定位算法。在分析影响垂线定位性能关键因素的基础上,论文提出了一种适合于非测距垂线定位算法的节点选择方案以有效地保障垂线定位精度。此外,论文分析了衰落因子估计误差和噪声干扰对垂线定位算法性能的影响。论文研究表明,与其他非测距定位算法相比,在合理选择定位节点的基础上垂线定位算法能实现更准确的目标定位,能够满足无线传感器网络目标定位跟踪的需要。
接着,论文分析了无线传感器网络中目标跟踪的研究现状,并对当前几类重点算法进行了分析和比较。论文着重讨论了基于最近点(CPA)的目标跟踪算法,CPA算法利用不同节点采集到的不同时刻的目标最近点信息,计算出目标的位置、方向和速度,并进而在监测区域内估计出目标连续的运动轨迹。与其它算法相比,CPA算法具有目标跟踪连续、估计目标轨迹更接近实际目标运动的优点,并且每个节点只需要存储和交换CPA时间,通信消息开销小。然后,论文结合CPA算法提出了一种适合于CPA目标定位跟踪的节点选择方案来增强定位跟踪的性能,并且还提出一种基于滑动窗口平滑处理的方法来抑制噪声干扰对CPA时间测量的不利影响,从而提高在噪声环境下的定位跟踪精度,提升算法的鲁棒性。论文利用OPNET搭建的目标定位跟踪仿真模型,对增强最近点(ECPA)算法、基于节点选择的改进ECPA定位算法和垂线定位算法进行仿真分析,相关仿真结果表明基于节点选择的改进ECPA目标定位跟踪算法的性能整体上要优于ECPA算法,采用时间滑动窗的平滑处理可以有效抑制噪声干扰对ECPA目标定位跟踪性能的不利影响。最后,论文针对CPA算法进行了能耗分析的基础上,为了有效地降低无线传感器网络目标定位跟踪过程中的网络能耗,论文针对CPA算法提出了一种基于动态簇的定位跟踪机制,研究结果表明,基于动态簇的无线传感器网络目标定位跟踪机制可以在保障对目标连续跟踪的同时,有效地减少网络通信消息数目,降低了系统能耗,延长网络寿命。
With the fast technology development in wireless communication, micro-electro-mechanical systems (MEMS), as well as sensing techniques, wireless sensor networks (WSNs) have found a wide range of applications. WSNs usually comprise of small and relatively inexpensive sensor nodes, which are capable of collecting, processing, storing and transferring the information of the monitored environment. WSNs can be employed in applications like environmental supervising, battlefield surveillance and status monitoring and maintenance applications. Among all different kind of these applications, target localization and tracking is one of the vital research focuses for WSNs. How to improve the accuracy and energy efficiency, however, challenges the moving target tracking.
Firstly, the target localization and tracking model will be introduced in this thesis, and some popular target localization algorithms are reviewed for comparison. After an analysis of the existing localization algorithms, the vertical localization algorithm was introduced, which determines the location of the target by the vertical line crossing between neighboring sensor nodes which observe the presence of the target. The critical factors which dominate the achieved localization accuracy are revealed to motivate the need for node selection in vertical line location algorithm. And the node selection criteria together with the node selection procedure are proposed in this thesis to enable the node selection based vertical line localization algorithm with improved accuracy. Moreover, the influence of inaccurate fading factors and the background noise on the achieved localization performance are highlighted. The simulation results are presented to validate that, when comparing with other localization techniques which do not need the distance measurement between sensor node and target, the vertical line localization may achieve reasonable localization performance, thus offering a promising alternative for the target localization application in WSNs.
Secondly, the moving target tracking problem and the state-of-the-art techniques in moving target tracking are reviewed. More specifically, the thesis focuses on the closest point of approach (CPA) based target tracking technique, wherein the moving target position, velocity, moving direction and continuous trajectory in the effective monitoring region could be traced by using the CPA information from neighboring sensor nodes. Compared with other algorithms, CPA algorithm is able to trace a reasonable continuous trajectory close to the actual target moving trajectory. In addition, CPA algorithm only requires that the CPA times of multiple sensor nodes along the moving target trajectory are stored and exchanged among sensors, so the message exchange overhead is low. Then the thesis also discusses the influence of sensor node selection on the target tracking performance to highlight the importance of node selection in CPA algorithm. A node selection criterion was proposed to enhance the localization and tracking performance of CPA algorithm. On the other hand, a sliding window method is proposed to alleviate the noise contamination on the CPA time measurement, thus improving both the accuracy and the robustness of CPA algorithm in the noisy environment. Simulation platforms over the OPNET are presented to enable the numerical simulations of ECPA, improved ECPA with node selection and the vertical line localization. It is unveiled through simulation results that, the improved ECPA algorithm with node selection outperforms the ECPA algorithm in terms of the localization accuracy. Meanwhile, sliding window averaging pre-processing is effective in suppress the noise deterioration.
Finally, based on the energy consumption analysis of CPA algorithm, a dynamic cluster structure was proposed to improve the energy efficiency in moving target tracking and localization in WSNs. And the simulation results are presented to validate that, the dynamic cluster mechanism could be utilized to reduce the communication message number which corresponds to the reduced energy consumption, thus prolonging the lifetime of the WSNs with the premise of the successful target tracking.
论文首先介绍了目标定位跟踪模型,然后详细介绍了几种目标定位算法。论文在分别比较已有的几种目标定位算法的基础上,重点分析了利用节点间连线的垂线来确定目标的位置的垂线定位算法。在分析影响垂线定位性能关键因素的基础上,论文提出了一种适合于非测距垂线定位算法的节点选择方案以有效地保障垂线定位精度。此外,论文分析了衰落因子估计误差和噪声干扰对垂线定位算法性能的影响。论文研究表明,与其他非测距定位算法相比,在合理选择定位节点的基础上垂线定位算法能实现更准确的目标定位,能够满足无线传感器网络目标定位跟踪的需要。
接着,论文分析了无线传感器网络中目标跟踪的研究现状,并对当前几类重点算法进行了分析和比较。论文着重讨论了基于最近点(CPA)的目标跟踪算法,CPA算法利用不同节点采集到的不同时刻的目标最近点信息,计算出目标的位置、方向和速度,并进而在监测区域内估计出目标连续的运动轨迹。与其它算法相比,CPA算法具有目标跟踪连续、估计目标轨迹更接近实际目标运动的优点,并且每个节点只需要存储和交换CPA时间,通信消息开销小。然后,论文结合CPA算法提出了一种适合于CPA目标定位跟踪的节点选择方案来增强定位跟踪的性能,并且还提出一种基于滑动窗口平滑处理的方法来抑制噪声干扰对CPA时间测量的不利影响,从而提高在噪声环境下的定位跟踪精度,提升算法的鲁棒性。论文利用OPNET搭建的目标定位跟踪仿真模型,对增强最近点(ECPA)算法、基于节点选择的改进ECPA定位算法和垂线定位算法进行仿真分析,相关仿真结果表明基于节点选择的改进ECPA目标定位跟踪算法的性能整体上要优于ECPA算法,采用时间滑动窗的平滑处理可以有效抑制噪声干扰对ECPA目标定位跟踪性能的不利影响。最后,论文针对CPA算法进行了能耗分析的基础上,为了有效地降低无线传感器网络目标定位跟踪过程中的网络能耗,论文针对CPA算法提出了一种基于动态簇的定位跟踪机制,研究结果表明,基于动态簇的无线传感器网络目标定位跟踪机制可以在保障对目标连续跟踪的同时,有效地减少网络通信消息数目,降低了系统能耗,延长网络寿命。
With the fast technology development in wireless communication, micro-electro-mechanical systems (MEMS), as well as sensing techniques, wireless sensor networks (WSNs) have found a wide range of applications. WSNs usually comprise of small and relatively inexpensive sensor nodes, which are capable of collecting, processing, storing and transferring the information of the monitored environment. WSNs can be employed in applications like environmental supervising, battlefield surveillance and status monitoring and maintenance applications. Among all different kind of these applications, target localization and tracking is one of the vital research focuses for WSNs. How to improve the accuracy and energy efficiency, however, challenges the moving target tracking.
Firstly, the target localization and tracking model will be introduced in this thesis, and some popular target localization algorithms are reviewed for comparison. After an analysis of the existing localization algorithms, the vertical localization algorithm was introduced, which determines the location of the target by the vertical line crossing between neighboring sensor nodes which observe the presence of the target. The critical factors which dominate the achieved localization accuracy are revealed to motivate the need for node selection in vertical line location algorithm. And the node selection criteria together with the node selection procedure are proposed in this thesis to enable the node selection based vertical line localization algorithm with improved accuracy. Moreover, the influence of inaccurate fading factors and the background noise on the achieved localization performance are highlighted. The simulation results are presented to validate that, when comparing with other localization techniques which do not need the distance measurement between sensor node and target, the vertical line localization may achieve reasonable localization performance, thus offering a promising alternative for the target localization application in WSNs.
Secondly, the moving target tracking problem and the state-of-the-art techniques in moving target tracking are reviewed. More specifically, the thesis focuses on the closest point of approach (CPA) based target tracking technique, wherein the moving target position, velocity, moving direction and continuous trajectory in the effective monitoring region could be traced by using the CPA information from neighboring sensor nodes. Compared with other algorithms, CPA algorithm is able to trace a reasonable continuous trajectory close to the actual target moving trajectory. In addition, CPA algorithm only requires that the CPA times of multiple sensor nodes along the moving target trajectory are stored and exchanged among sensors, so the message exchange overhead is low. Then the thesis also discusses the influence of sensor node selection on the target tracking performance to highlight the importance of node selection in CPA algorithm. A node selection criterion was proposed to enhance the localization and tracking performance of CPA algorithm. On the other hand, a sliding window method is proposed to alleviate the noise contamination on the CPA time measurement, thus improving both the accuracy and the robustness of CPA algorithm in the noisy environment. Simulation platforms over the OPNET are presented to enable the numerical simulations of ECPA, improved ECPA with node selection and the vertical line localization. It is unveiled through simulation results that, the improved ECPA algorithm with node selection outperforms the ECPA algorithm in terms of the localization accuracy. Meanwhile, sliding window averaging pre-processing is effective in suppress the noise deterioration.
Finally, based on the energy consumption analysis of CPA algorithm, a dynamic cluster structure was proposed to improve the energy efficiency in moving target tracking and localization in WSNs. And the simulation results are presented to validate that, the dynamic cluster mechanism could be utilized to reduce the communication message number which corresponds to the reduced energy consumption, thus prolonging the lifetime of the WSNs with the premise of the successful target tracking.
引文
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[2]D. Cullar, D. Estrin, M. Strvastava, "Overview of sensor network," Computer, 2004,37(8).
[3]Kahn J, Katz R,Pister K. Next century challenges:mobile networking for "SmartDust".Proc.of the 5th Annual ACM/IEEE International Conference on Mobile Computing and Networking, Seattle,1999,pp.271-278.
[4]Yu Qinggao. Ten emerging technologies that will change the world. Technology Review.2003,106(1),pp.22-49.
[5]王殊,阎毓杰,胡富平,屈晓旭编著,《无线传感器网络的理论及应用》,北京航空航天大学出版社,2007年7月.
[6]孙利民等编著,《无线传感器网络》,北京：清华大学出版社,2005.5.
[7]J.Liu, P.Cheung, F.Zhao, L.Guibas, "A dual-space approach to tracking and sensor management in wireless sensor networks." in Proc. of the 1st ACM Int'l Workshop on Wireless Sensor Network and Applications,2003, pp.131-139.
[8]He T.Huang C.Blum B M,Stankovic J A,Abdelzaher T. Range-free localization
schemes for laree scale sensor networks. In:Proc 9th Annual Int'l Conf on Mobile Computing and Networking(MobiCom),San Diego,CA.2003.pp.81-95.
[9]D. Niculescu and B. Nath, "Ad Hoc Positioning System (APS)," CLOBECOM, SanAntonio,2001.
[10]P. W. Boettcher and G. A. Shaw, "Energy-constrained collaborative processing for target detection, tracking, and geolocation," in IPSN'03:Proceedings of the 6th international conference on Information processing in sensor networks,2003, pp. 254-268.
[11]P. W. Boettcher, J. A. Sherman, and G. A. Shaw, "Target localization using acoustic time-difference of arrival in distributed sensor networks,"R. Suresh and W. E. Roper, Eds., vol.4741, no.1. SPIE,2002, pp.180-191.
[12]D. Niculescu and B. Nath, "Ad Hoc Positioning System (APS) Using AOA,' INFOCOM, San Francisco, CA,2003.
[13]Nirupama Bulusu,John Heidemann and Deborah Estrin, GPS-Less Low Cost Outdoor Localization for Very Small Devices, IEEE Personal Communications,2000,7(5), pp. 28-34.
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