Nonlinear filtering in target tracking using cooperative mobile sensors

TL;DR

This paper develops a mathematical model and a nonlinear convergent filter for target tracking with mobile sensors, proposing a deployment strategy to improve tracking accuracy in networked sensor systems.

Contribution

It introduces a novel sensor deployment strategy and a nonlinear filtering approach for effective target tracking with mobile sensors.

Findings

Successful formulation of a mathematical model for single target tracking

Development of a nonlinear convergent filter for trajectory estimation

Proposed deployment strategy enhances tracking performance

Abstract

Collaborative signal processing and sensor deployment have been among the most important research tasks in target tracking using networked sensors. In this paper, the mathematical model is formulated for single target tracking using mobile nonlinear scalar range sensors. Then a sensor deployment strategy is proposed for the mobile sensors and a nonlinear convergent filter is built to estimate the trajectory of the target.