Title :
Distributed tracking with Doppler sensors
Author :
Battistelli, Giorgio ; Chisci, L. ; Fantacci, C. ; Farina, A. ; Graziano, A.
Author_Institution :
Dipt. di Ing. dell´Inf., Univ. di Firenze, Florence, Italy
Abstract :
This paper deals with the problem of tracking a moving target by means of a network of geographically dispersed nodes with Doppler sensing, communication and processing capabilities, free of any centralized coordination. The contribution is twofold. First, a suitable nonlinear observability decomposition is introduced in order to single out state coordinates that can be fully observed from a single Doppler sensor. Then, based on such a decomposition, a novel consensus filter for distributed Doppler-only tracking is developed and its performance is evaluated via computer simulations.
Keywords :
decomposition; performance evaluation; sensors; target tracking; centralized coordination; consensus filter; decomposition; distributed Doppler-only tracking; distributed tracking; geographically dispersed node; moving target tracking; nonlinear observability decomposition; performance evaluation; single Doppler sensor; Doppler effect; Doppler measurement; Frequency measurement; Observability; Sensors; Target tracking; Vectors; Tracking; distributed estimation; nonlinear filtering; sensor networks;
Conference_Titel :
Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on
Conference_Location :
Firenze
Print_ISBN :
978-1-4673-5714-2
DOI :
10.1109/CDC.2013.6760635
