A Distributed Particle Filter for Acoustic Source Tracking Using an Acoustic Vector Sensor Network

摘要

This paper presents a distributed particle filtering (PF) approach for wideband acoustic source tracking using an acoustic vector sensor (AVS) network. At each distributed AVS node of the AVS network, the unscented information PF (UIPF) provides local estimates of the source location. A distributed consensus algorithm, based on the first and second order statistics of the localized UIPF estimated states, then obtains the global position estimate for the overall AVS network. Since the UIPF inverts smaller order matrices, its computational complexity is significantly less as compared to its centralized counterpart. The performance of the proposed tracking algorithm is studied under both single source and multiple source tracking scenarios.