Cooperative Localization and Target Tracking With Data Exception Based on Classification

被引：0
作者：
Yu, Xingkai [1 ]
Jin, Gumin [2 ]
Li, Jianxun [2 ]
机构：
[1] North China Elect Power Univ, Sch Control & Comp Engn, Beijing 102206, Peoples R China
[2] Shanghai Jiao Tong Univ, Dept Automat, Shanghai 200240, Peoples R China
来源：
IEEE SENSORS JOURNAL | 2024年 / 24卷 / 24期
基金：
中国国家自然科学基金; 北京市自然科学基金;
关键词：
Classification; cooperative localization and target tracking (CLTT); data exception; ALGORITHM; CONSENSUS; FUSION; SYSTEM;
D O I：
10.1109/JSEN.2024.3485069
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
This article considers the problem of cooperative localization and target tracking (CLTT) with data exception from compromised/faulty sensors. An efficient classification approach is used to resist abnormal data from neighbors and then improve fusion performance. Unlike traditional fault-diagnosis-based methods, the proposed classification-based CLTT can be deployed and executed online without condition monitoring, achieving high real-time capability and reliability. To validate the effectiveness of the proposed algorithms, simulation examples and real-world experiments are provided.
引用
收藏
页码：41347 / 41356
页数：10
相关论文
共 40 条
  • [1] Luo R.C., Yih C.-C., Lan Su K., Multisensor fusion and integration: Approaches, applications, and future research directions, IEEE Sensors J., 2, 2, pp. 107-119, (2002)
  • [2] Yan J., Liu H., Jiu B., Liu Z., Bao Z., Joint detection and tracking processing algorithm for target tracking in multiple radar system, IEEE Sensors J., 15, 11, pp. 6534-6541, (2015)
  • [3] Wang Z., Zou Y., Liu Y., Meng Z., Distributed control algorithm for leader-follower formation tracking of multiple quadrotors: Theory and experiment, IEEE/ASME Trans. Mechatronics, 26, 2, pp. 1095-1105, (2021)
  • [4] Qian M., Chen W., Sun R., A maneuvering target tracking algorithm based on cooperative localization of multi-UAVs with bearing-only measurements, IEEE Trans. Instrum. Meas., 73, pp. 1-11, (2024)
  • [5] Dong L., Cooperative localization and tracking of mobile ad hoc networks, IEEE Trans. Signal Process., 60, 7, pp. 3907-3913, (2012)
  • [6] Li H., Li C., Gao H., Wu S., Fang G., Study of moving targets tracking methods for a multi-beam tracking system in terahertz band, IEEE Sensors J., 21, 5, pp. 6520-6529, (2021)
  • [7] Pandey A., Tripathi R., A survey on wireless sensor networks security, Int. J. Comput. Appl., 3, 2, pp. 43-49, (2010)
  • [8] Huang G., Kaess M., Leonard J.J., Consistent unscented incremental smoothing for multi-robot cooperative target tracking, Robot. Auto. Syst., 69, pp. 52-67, (2015)
  • [9] Ahmad A., Tipaldi G.D., Lima P., Burgard W., Cooperative robot localization and target tracking based on least squares minimization, Proc. IEEE Int. Conf. Robot. Autom., pp. 5696-5701, (2013)
  • [10] Mirzaei F.M., Mourikis A.I., Roumeliotis S.I., On the performance of multi-robot target tracking, Proc. IEEE Int. Conf. Robot. Autom., 12, pp. 3482-3489, (2007)
1234