發(fā)布時間：2018-01-20 05:19

  本文關鍵詞： 水下無線傳感器網(wǎng)絡 節(jié)點定位 水下目標跟蹤 節(jié)點拓撲 節(jié)點位置不確定　出處：《浙江大學》2016年博士論文　論文類型：學位論文

【摘要】：隨著陸地資源的逐漸減少,人們越來越重視對海洋資源的開發(fā)和利用�；谒聼o線傳感器網(wǎng)絡(Underwater Wireless Sensor Networks,UWSNs)的水下目標跟蹤作為海洋開發(fā)和利用的重要組成部分,正在成為一個重要的研究熱點。由于UWSNs節(jié)點為水下目標跟蹤提供量測,節(jié)點的位置信息對水下目標跟蹤至關重要,本文首先研究了 UWSNs節(jié)點定位問題,并在此基礎上研究了UWSNs水下目標跟蹤問題。本文的研究工作和主要貢獻如下:首先,針對沒有額外輔助設備和節(jié)點通信能力不強的網(wǎng)絡,設計了一種自上而下的節(jié)點定位策略。通過定義節(jié)點自信指數(shù),引入梯度法,以及設計三維空間兩跳距離估計算法,在保證適當跟蹤精度的前提下,提高了定位覆蓋率。其次,針對UWSNs節(jié)點時鐘同步難以實現(xiàn)的問題,提出了一種不依賴時鐘同步的節(jié)點定位策略。利用本地時鐘的時間差獲取節(jié)點與錨節(jié)點的距離差,并設計了一種基于距離差的最小二乘定位法,將距離差信息轉換成節(jié)點的位置。此外,考慮到UWSNs節(jié)點有限的計算和存儲能力,研究了基于局部信息節(jié)點選擇水下目標跟蹤問題。為了克服全局信息節(jié)點選擇的弊端,提出了一種基于局部信息的節(jié)點選擇策略。為了保證UWSNs目標跟蹤實時性要求,采用了帶反饋的分布式卡爾曼融合策略,并設計了一種基于局部信息節(jié)點選擇的分布式跟蹤算法,降低了計算復雜度。然后,本文研究了考慮節(jié)點拓撲結構的水下目標跟蹤問題,給出了量化量測條件下后驗克拉美羅下界與節(jié)點拓撲的關系,并設計了一種基于多傳感器粒子濾波的水下目標跟蹤策略。基于上述研究成果,本文進一步研究了非理想信道對水下目標跟蹤性能的影響,設計了一種非理想信道條件下的水下目標跟蹤策略,并利用海試數(shù)據(jù)驗證了該跟蹤策略的有效性。最后,考慮到UWSNs節(jié)點的移動性,研究了節(jié)點位置不確定水下目標跟蹤問題。利用一階泰勒級數(shù)展開法對節(jié)點位置不確定性進行了建模,將節(jié)點位置不確定的影響近似轉換成量測噪聲。給出了節(jié)點位置不確定條件下后驗克拉美羅下界與節(jié)點估計位置的關系,并設計了一種考慮節(jié)點位置不確定的水下目標跟蹤策略,提高了水下目標跟蹤精度。
[Abstract]:With the gradual decline of land resources. People pay more and more attention to the development and utilization of marine resources. Underwater Wireless Sensor Networks is based on underwater wireless sensor network. As an important part of ocean development and utilization, underwater target tracking is becoming an important research hotspot. UWSNs node provides measurement for underwater target tracking. The location information of nodes is very important for underwater target tracking. Firstly, the problem of UWSNs node location is studied in this paper. On this basis, the underwater target tracking problem of UWSNs is studied. The research work and main contributions are as follows: first, the network without additional auxiliary equipment and node communication ability is not strong. A top-down node location strategy is designed. By defining the node confidence index, introducing the gradient method, and designing a two-hop distance estimation algorithm in three-dimensional space, the tracking accuracy is ensured. The location coverage rate is improved. Secondly, aiming at the problem that clock synchronization of UWSNs node is difficult to realize. This paper proposes a node location strategy which does not depend on clock synchronization, uses the time difference of local clock to obtain the distance difference between node and anchor node, and designs a least-square location method based on distance difference. The distance difference information is converted to the location of the node. In addition, the limited computing and storage capacity of the UWSNs node is considered. The problem of underwater target tracking based on local information node selection is studied in order to overcome the disadvantages of global information node selection. A node selection strategy based on local information is proposed. In order to meet the real-time requirements of UWSNs target tracking, a distributed Kalman fusion strategy with feedback is adopted. A distributed tracking algorithm based on local information node selection is designed to reduce the computational complexity. Secondly, the underwater target tracking problem considering node topology is studied in this paper. The relationship between the lower bound of posterior Clemero and node topology under the condition of quantization measurement is given, and an underwater target tracking strategy based on multi-sensor particle filter is designed. In this paper, the influence of non-ideal channel on underwater target tracking performance is further studied, and an underwater target tracking strategy is designed under the condition of non-ideal channel. The effectiveness of the tracking strategy is verified by sea trial data. Finally, the mobility of UWSNs nodes is considered. In this paper, the problem of underwater target tracking with uncertain nodal position is studied, and the first order Taylor series expansion method is used to model the uncertainty of node position. The influence of node location uncertainty is approximately converted into measurement noise, and the relationship between the posteriori Clamero lower bound and the node estimation position under the condition of node position uncertainty is given. An underwater target tracking strategy considering the uncertainty of node position is designed to improve the accuracy of underwater target tracking.
【學位授予單位】：浙江大學
【學位級別】：博士
【學位授予年份】：2016
【分類號】：TP212.9;TN929.3

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本文編號：1446999