The Study on Applying the Mobile Sensors in Tracking and Its Management for the Wireless Sensor Networks 黃宣諭、陳雍宗

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The Study on Applying the Mobile Sensors in Tracking and Its Management for the Wireless Sensor Networks

黃宣諭、陳雍宗

ABSTRACT

An algorithm by combining sensor scheduling with energy efficient for tracking the maneuvering targets with mobile sensor deployed in WSNs (wireless sensor networks) is proposed and investigated in the article. A simulation by using of the scenario with two

maneuvering targets, three maneuvering targets, even more,tracking held to validate the accuracy of the proposed algorithm.

Besides, the extended Kalman filter(EKF) method is adopted as the tracking algorithm, by using of the mean square error(MSE) to calculate the position error between the real targets and the tracking targets. Moreover, the simulation results form the numerical analysis illustrate that the proposed algorithm is validated in accuracy.

Keywords : WSNs, EKF, mobile sensors, MSE, maneuvering targets.

Table of Contents

封面內頁簽名頁授權書．．．．．．．．．．．．．．．．．．．．．．．．．．．．iii 中文摘要．．．．．．．．．

．．．．．．．．．．．．．．．．．．iv 英文摘要．．．．．．．．．．．．．．．．．．．．．．．．．．．v 誌謝

．．．．．．．．．．．．．．．．．．．．．．．．．．．．．vi 目錄．．．．．．．．．．．．．．．．．．．．．

．．．．．．．．vii 圖目錄．．．．．．．．．．．．．．．．．．．．．．．．．．．．ix 表目錄．．．．．．．．．

．．．．．．．．．．．．．．．．．．．xi 第一章緒論．．．．．．．．．．．．．．．．．．．．．．．．． 1 1-1 前言．．．．．．．．．．．．．．．．．．．．．．．．．．．1 1-2 研究動機與方法．．．．．．．．．．．．．．

．．．．．．．．6 1-3 論文結構．．．．．．．．．．．．．．．．．．．．．．．．．7 第二章無線感測網路．．．

．．．．．．．．．．．．．．．．．． 9 2-1 無線感測網路簡介．．．．．．．．．．．．．．．．．．．．．9 2-2 無線感測網路的通訊結構．．．．．．．．．．．．．．．．．．10 2-3 無線感測網路之拓樸．．．．．．．．．．．．．

．．．．．．．13 第三章卡門濾波器．．．．．．．．．．．．．．．．．．．．．． 18 3-1 系統模型．．．．．．．

．．．．．．．．．．．．．．．．．．18 3-2 卡門濾波器之系統模式．．．．．．．．．．．．．．．．．． 18 3-3 數學式推演卡門濾波器．．．．．．．．．．．．．．．．．． 19 3-4 卡門濾波器的功能及性質．．．．．．．．．．．

．．．．．．．23 3-5 擴展式卡門濾波器．．．．．．．．．．．．．．．．．．．．．25 第四章動態感測器對變動目標的追蹤．．．．．．．．．．．．．． 31 4-1動態感測器對變動目標的追蹤介紹．．．．．．．．．．．．．． 31 4-2 系統問題規範．．．．．．．．．．．．．．．．．．．．．．． 32 4-3在EKF上的目標追蹤．．．．．．．．．．．．

．．．．．．．．．34 4-4選取移動式感測器之管理．．．．．．．．．．．．．．．．．． 37 第五章模擬結果．．．

．．．．．．．．．．．．．．．．．．．． 40 第六章結論．．．．．．．．．．．．．．．．．．．．．．．．． 56 參考文獻．．．．．．．．．．．．．．．．．．．．．．．．．．．57 圖目錄圖1.1 JDL數據融合模型．．．．．．．

．．．．．．．．．．．．． 4 圖1.2 WSNs之協定架構圖．．．．．．．．．．．．．．．．．．．．7 圖2.1無線感測器網路之結構圖．．．．．．．．．．．．．．．．．10 圖2.2構成感測器節點四要素方塊圖．．．．．．．．．．．．．

．．12 圖2.3感測器網路協定架構圖．．．．．．．．．．．．．．．．．．16 圖3.1線性卡門濾波器系統方塊圖．．．．

．．．．．．．．．．．．18 圖3.2卡門濾波器整體流程圖．．．．．．．．．．．．．．．．．．22 圖3.3卡門濾波器一步狀態估測流程圖．．．．．．．．．．．．．．30 圖5.1佈署兩個目標以及兩個移動感測器節點感測所覆蓋的範圍．．

．43 圖5.2兩個感測器分別追蹤兩個移動目標物之追蹤擬．．．．．．．．44 圖5.3兩個感測器分別追蹤兩個移動目標物之位置誤差累增結果．．．44 圖5.4兩個感測器分別追蹤兩個移動目標物之速度誤差累增結果．．．45 圖5.5四個感測器分別追蹤四個移動目標物之追蹤模擬．．．．．．．46 圖5.6四個感測器分別追蹤四個移動目標物之角度累增誤差結果．．

．46 圖5.7四個感測器分別追蹤四個移動目標物之角度MSE結果．．．．． 47 圖5.8四個感測器分別追蹤四個移動目標物之位置累增誤差結果．．．47 圖5.9四個感測器分別追蹤四個移動目標物之位置MSE結果．．．．． 48 圖5.10四個感測器分別追蹤四個移動目標物之速度累增誤差結果．． 48 圖5.11 四個感測器分別追蹤四個移動目標物之速度MSE 結果．．．

．49 圖5.12 五個感測器分別追蹤五個移動目標物之追蹤模擬．．．．．．50 圖5.13 五個感測器分別追蹤五個移動目標物之位置累增誤差結果．．50 圖5.14 五個感測器分別追蹤五個移動目標物之位置MSE 結果．．．．51 圖5.15 五個感測器分別追蹤五個移動目標物之角度累增誤差結果．．51 圖5.16 五個感測器分別追蹤五個移動目標物之角度MSE 結果．．．

．52 圖5.17 五個感測器分別追蹤五個移動目標物之速度累增誤差結果．．52 圖5.18 五個感測器分別追蹤五個移動目標物

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之速度MSE 結果．．．．53 圖5.19 七個感測器分別追蹤七個移動目標物之追蹤模擬結果．．．．54 圖5.20 七個感測器分別追蹤七個移動目標物之位置MSE 結果．．．．54 圖5.21 七個感測器分別追蹤七個移動目標物之速度MSE 結果．．．

．55 圖5.22 七個感測器分別追蹤七個移動目標物之角度MSE 結果．．．．55 表目錄表5.1 兩個目標之起始位置．．．．

．．．．．．．．．．．．．． 43 表5.2 四個目標之起始位置．．．．．．．．．．．．．．．．．． 45 表5.3 五個目標之起始位置．．．．．．．．．．．．．．．．．． 49 表5.4 七個目標之起始位置．．．．．．．．．．．．．．．．．

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