Target tracking algorithm using Gaussian cost-reference particle filter in WSN based on multi-modality information

Target tracking algorithm using Gaussian cost-reference particle filter in WSN based on multi-modality information is proposed in this paper. Compared with WSN relying on sensors of single modality, two different nodes organize the network; Contrary to traditional particle filter algorithm for target tracking, this algorithm does not assume explicit mathematical models of the noise probabilistic distributions, but approximate posterior probability distribution of the state using Gaussian distribution. The mean and variance of Gaussian distribution as information interacted between nodes only need to be transmitted. Simulation results show that the algorithm can satisfy the need of a tracking accuracy and efficiently prolong the network lifetime.