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

fYear

2013

fDate

10-13 Dec. 2013

Firstpage

4760

Lastpage

4765

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control (CDC), 2013 IEEE 52nd Annual Conference on

Conference_Location

Firenze

ISSN

0743-1546

Print_ISBN

978-1-4673-5714-2

Type

conf

DOI

10.1109/CDC.2013.6760635

Filename

6760635