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Jalalipoor A, Kardehi Moghaddam R. Decentralized and Cooperative Multi-Sensor Multi-Target Tracking With Asynchronous Bearing Measurements. JoC 2021; 14 (4) :1-12
URL: http://joc.kntu.ac.ir/article-1-676-en.html
Decentralized and Cooperative Multi-Sensor Multi-Target Tracking With Asynchronous Bearing Measurements
Alireza Jalalipoor1 , Reihaneh Kardehi Moghaddam * 1
1- Azad University of Mashhad
Abstract:   (5871 Views)
Bearings only tracking is a challenging issue with many applications in military and commercial areas. In distributed multi-sensor multi-target bearings only tracking, sensors are far from each other, but are exchanging data using telecommunication equipment. In addition to the general benefits of distributed systems, this tracking system has another important advantage: if the sensors are sufficiently spaced apart, the target state is observable and the maneuver is not necessary by sensors. In this work, Multi-sensor multi-target bearings only tracking with decentralized architecture and asynchronous measurements is newly proposed. In this study, with the help of the idea of ​​composite measurements and taking into account the time of measurements in the calculations, while overcoming the asynchronous of the measurements, the nonlinear effects in the measurement equation are also eliminated. Also, diffusive filtering is used to exploit the information of neighboring sensor agents to improve the estimates. The simulations show that the system designed in this research can well detect targets and track them with acceptable accuracy.
Keywords: Bearings-only Tracking, Multi-Agent Systems, Decentralized Systems, Cooperative Control, Diffusive Filters
Full-Text [PDF 934 kb]   (1556 Downloads)    
Type of Article: Research paper | Subject: Special
Received: 2019/06/1 | Accepted: 2020/04/18 | ePublished ahead of print: 2020/06/27 | Published: 2021/02/19
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