Target Tracking in Confined Environments with Uncertain Sensor Positions
2016 (English)In: IEEE Transactions on Vehicular Technology, ISSN 0018-9545, E-ISSN 1939-9359, Vol. 65, no 2, 870-882 p.Article in journal (Refereed) Published
To ensure safety in confined environments such as mines or subway tunnels, a (wireless) sensor network can be deployed to monitor various environmental conditions. One of its most important applications is to track personnel, mobile equipment and vehicles. However, the state-of-the-art algorithms assume that the positions of the sensors are perfectly known, which is not necessarily true due to imprecise placement and/or dropping of sensors. Therefore, we propose an automatic approach for simultaneous refinement of sensors' positions and target tracking. We divide the considered area in a finite number of cells, define dynamic and measurement models, and apply a discrete variant of belief propagation which can efficiently solve this high-dimensional problem, and handle all non-Gaussian uncertainties expected in this kind of environments. Finally, we use ray-tracing simulation to generate an artificial mine-like environment and generate synthetic measurement data. According to our extensive simulation study, the proposed approach performs significantly better than standard Bayesian target tracking and localization algorithms, and provides robustness against outliers.
Place, publisher, year, edition, pages
IEEE Press, 2016. Vol. 65, no 2, 870-882 p.
confined environments, tunnels, sensor network, simultaneous localization and tracking, belief propagation, Hidden Markov model, ray tracing, time of arrival
Communication Systems Signal Processing Control Engineering
IdentifiersURN: urn:nbn:se:liu:diva-114295DOI: 10.1109/TVT.2015.2404132ISI: 000370754000031OAI: oai:DiVA.org:liu-114295DiVA: diva2:789004
FunderSwedish Foundation for Strategic Research
Funding agencies: Swedish Foundation for Strategic Research (SSF) through project Cooperative Localization (CoopLoc); Excellence Center at Linkoping-Lund in Information Technology (ELLIIT); Swedish Research Council (VR) [2010-5889]; European Research Council [COOPNET 258412015-02-172015-02-172016-08-31