A Bank of Decentralized Extended Information Filters for Target Tracking in Event-Triggered WSNs

摘要

This paper presents a hierarchical estimation method for maneuvering target tracking in event-triggered wireless sensor networks. First, several process noise covariances are chosen to characterize the dynamic characteristic of the target in the presence of maneuvers, and a bank of decentralized extended information filters (DEIFs) are used to generate state estimates of the target. Second, the estimates from the DEIFs are combined by covariance intersection (CI) to obtain an improved state estimate while still maintaining a consistent estimate. Thus, the DEIF and the CI methods form complementary advantages by satisfying the requirement of the consistency in the hierarchical estimation framework. Finally, both simulations and experiments of a target tracking example demonstrate that the proposed method is more suitable for applications to the maneuvering target tracking and it achieves a more satisfactory performance than the conventional DEIF method.