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This paper discusses the design of a real-time tracking system targeted for deployment in wireless sensor networks. The proposed system, utilizes accumulated range data from a number of anchor sensor nodes to infer the position and other kinematic variables of a mobile target. To track manoeuvring targets three dynamic models are used. A particle filter inspired algorithm operates on the range measurements in real-time to produce an estimate of the target's position and two-axis velocity. The system is evaluated through simulations that reveal its ability to accurately (RMSE <10m) track manoeuvring targets.
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