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一種基于異步傳感器網(wǎng)絡的空間目標分布式跟蹤方法

黃靜琪,  胡琛,  孫山鵬,  高翔,  何兵

黃靜琪, 胡琛, 孫山鵬, 高翔, 何兵. 一種基于異步傳感器網(wǎng)絡的空間目標分布式跟蹤方法[J]. 電子與信息學報, 2020, 42(5): 1132-1139. doi: 10.11999/JEIT190460
引用本文: 黃靜琪, 胡琛, 孫山鵬, 高翔, 何兵. 一種基于異步傳感器網(wǎng)絡的空間目標分布式跟蹤方法[J]. 電子與信息學報, 2020, 42(5): 1132-1139. doi: 10.11999/JEIT190460
Jingqi HUANG, Chen HU, Shanpeng SUN, Xiang GAO, Bing HE. A Distributed Space Target Tracking Algorithm Based on Asynchronous Multi-sensor Networks[J]. Journal of Electronics & Information Technology, 2020, 42(5): 1132-1139. doi: 10.11999/JEIT190460
Citation: Jingqi HUANG, Chen HU, Shanpeng SUN, Xiang GAO, Bing HE. A Distributed Space Target Tracking Algorithm Based on Asynchronous Multi-sensor Networks[J]. Journal of Electronics & Information Technology, 2020, 42(5): 1132-1139. doi: 10.11999/JEIT190460

一種基于異步傳感器網(wǎng)絡的空間目標分布式跟蹤方法

doi: 10.11999/JEIT190460
  • 1.

    火箭軍工程大學 西安 710025

  • 2.

    宇航動力學國家重點實驗室 西安 710043

詳細信息
    作者簡介:

    黃靜琪：女，1987年生，助理研究員，研究方向為航天器精密軌道確定、實時軌道計算、分布式濾波

    胡?。耗校?988年生，博士，講師，研究方向為分布式濾波、多智能體系統(tǒng)、機器學習

    孫山鵬：男，1987年生，工程師，研究方向為航天器測控總體技術、航天器實時軌道計算

    高翔：男，1987年生，工程師，研究方向為航天器測控總體技術、航天器實時軌道計算

    何兵：男，1983年生，副教授，研究方向為信息融合、飛行動力學及控制

    通訊作者:

    黃靜琪　hjingqi@sina.cn

  • 中圖分類號: TP391

A Distributed Space Target Tracking Algorithm Based on Asynchronous Multi-sensor Networks

  • 1.

    Graduate School, Rocket Force University of Engineering, Xi’an 710025, China

  • 2.

    State Key Laboratory of Astronautic Dynamics, Xi’an 710043, China

  • 摘要:

    為解決傳感器網(wǎng)絡在空間目標分布式跟蹤過程中的異步采樣及通信延遲問題，該文提出一種異步分布式信息濾波算法(ADIF)。首先，局部傳感器與相鄰節(jié)點之間以一定的拓撲結構傳遞帶采樣時標的局部狀態(tài)信息和量測信息，然后將收到的異步信息按時間排序，使用ADIF算法進行計算，分別對目標狀態(tài)進行估計。該方法實現(xiàn)簡單，傳感器間通信的次數(shù)少，支持網(wǎng)絡拓撲的實時變化，適用于空間目標監(jiān)測中的多目標跟蹤問題。該文分別對空間單目標、多目標跟蹤進行了仿真，結果表明算法可以有效解決異步傳感器濾波問題，分布式濾波精度一致逼近于集中式結果。

    Abstract:

    To solve the problem of asynchronous sampling and communication delay of sensor network in space target tracking, an Asynchronous Distributed algorithm based on Information Filtering (ADIF) is proposed. First, local state information and measurement information with sampling time is transmitted between local sensor and adjacent nodes in a certain topology structure. Then, the local sensor sorts the received asynchronous information by time, and ADIF algorithm is used to calculate the target state respectively. This method is simple to implement, the frequency of communication between sensors is small, and it supports the real-time change of network topology, which is suitable for multi-target tracking. In this paper, single target and multi-target tracking are simulated respectively. The results show that the algorithm can effectively solve the problem of asynchronous sensor filtering, and the distributed filtering accuracy converges to the centralized result.

    • HTML全文

  • 圖  1  異步多傳感器采樣示意圖

    圖  2  傳感器i的入鄰節(jié)點采樣時刻映射示意圖

    圖  3  傳感器網(wǎng)絡的通信拓撲

    圖  4  測量設備的跟蹤弧段

    圖  5  各測量設備計算的位置、速度RMSE曲線

    圖  6  目標1傳感器網(wǎng)絡拓撲變化情況

    圖  7  目標2傳感器網(wǎng)絡拓撲變化情況

    圖  8  P1, S1, S2對目標1分布式濾波定軌的位置、速度RMSE曲線

    圖  9  P2, S2, S3對目標2分布式濾波定軌的位置、速度RMSE曲線

    表  1  目標初始軌道

    歷元X(m)Y(m)Z(m)Vx(m·s–1)Vy(m·s–1)Vz(m·s–1)
    2019-04-25 04:11:56980093.4661709342.5126698030.7146293.7414383734.785328–1863.584480
    下載: 導出CSV

    表  2  天基光學相機軌道根數(shù)

    天基相機歷元a(km)ei(°)Ω(°)ω(°)M(°)
    P12019-4-25 04:00:006878.1370.00001145.0359.80.0339.8
    P22019-4-25 04:00:006778.1370.00001063.4250.110.235.0
    下載: 導出CSV

    表  3  各測站集中式與分布式濾波位置平均RMSE

    濾波類型P1P2S1S2S3
    位置ADIF(m)11.438910.774011.668311.389310.9962
    EIF(m)9.6533
    速度ADIF(m/s)0.45500.45630.45750.45640.4564
    EIF(m/s)0.3973
    下載: 導出CSV

    表  4  目標2初始軌道

    歷元X(m)Y(m)Z(m)Vx(m·s–1)Vy(m·s–1)Vz(m·s–1)
    2019-04-25 04:00:556985582.028542743.4501003434.795–966.305250–1160.131728–7350.707562
    下載: 導出CSV
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出版歷程
  • 收稿日期:  2019-06-21
  • 修回日期:  2019-10-20
  • 網(wǎng)絡出版日期:  2019-10-29
  • 刊出日期:  2020-06-04

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