Adapted JPDA for Node Location and Maneuvering Target Tracking in a Sensor Network

The uncertainty of the sensors position will render the measurements useless in many scenarios. To track a maneuvering target in a sensor network in which the nodes are in unknown locations, the target states must be estimated jointly with nodes positions. In this paper the number of sensor is given, measurements from the sensors are independent and there is no beacon available for aid of node locating. We extended the frame work of Joint probabilistic data association (JPDA), an approach for multi-target tracking with a known number of targets, adapted it for our problem and obtained the fused results by the weights of the posterior probability. The computer simulation of a network of power-aware sensors shows that this approach is valid for the scenario of a single maneuvering target.