Nonlinear Target Tracking Schedule Based on Dynamic Consensus for WSN

In order to eliminate drawback of bottleneck constraints and fault tolerance in centralized target tracking and hierarchical object tracking, the paper presents a distributed dynamic consensus strategy for nonlinear target tracking. The target state is initialized using the weighted least squares method, the entire tracking process is the implementation of dynamic clustering strategy, the tasking nodes were selected dynamically and wake up for detection of moving target. Then tasking sensors implement distributed nonlinear filtering strategy to obtain its state estimates, the remaining nodes turn into sleep in order to reduce the energy consumption of the system. Compared with central target tracking algorithm from tracking error, the results show that the proposed algorithm compared with CKF, the tracking accuracy is comparable. In addition, state estimates is completed in distributed manner that nodes only need to exchange data with their neighbors in a partially, it can eliminating the bottleneck of the central node, and damage of some sensor nodes will not affect the completion of the global task.