Noncooperative Mobile Target Tracking Using Multiple AUVs in Anchor-Free Environments
Noncooperative Mobile Target Tracking Using Multiple AUVs in Anchor-Free Environments
复制标题
在无锚环境中使用多个 AUV 进行非合作移动目标跟踪
DOI：
10.1109/jiot.2020.2988307
复制
发表时间：
2020
影响因子：
10.6
通讯作者：
Guan Xinping
中科院分区：
文献类型：
--
作者：
Li Yichen;Liu Lingya;Yu Wenbin;Wang Yiyin;Guan Xinping
非合作目标跟踪是水下物联网研究的一个重要课题。自主水下航行器（AUV）是实现目标跟踪的首选方案，特别是在无锚环境中，没有部署具有已知位置的设备（称为锚）。多AUV自组织的移动的网络可以对目标进行定位和连续监测。因此，在这篇文章中，我们研究的问题，非合作目标跟踪使用多AUV在无锚环境。在目标跟踪中，水下机器人作为参考，首先需要估计它们的位置。提出了一种基于置信度传播的多AUV协同定位与目标跟踪框架。在MCLTT下，设计了基于BP神经网络的水下协同定位和非合作移动的目标跟踪算法。高斯近似用于减少AUV之间的通信成本。所设计的BPUCL消除了水下机器人惯性测量中累积误差的影响，减缓了定位误差的增长。在NcMTT中，提出了无模型的位置预测过程，并使用到达时间差（TDOA）测量设计了一种新形式的基于粒子的BP消息。通过与现有方法的比较，仿真结果验证了所提算法的有效性。
The noncooperative target tracking is an important issue for the Internet of Underwater Things (IoUT). Autonomous underwater vehicles (AUVs) are preferred options to achieve the target tracking especially in anchor-free environments, where no equipments with known positions, named anchors, are deployed. The self-organized mobile network of multiple AUVs can localize and continuously monitor the target. Thus, in this article, we investigate the problem of the noncooperative target tracking using multiple AUVs in anchor-free environments. In the target tracking, AUVs play as references and their positions need to be estimated first. We propose a multi-AUV cooperative localization and target tracking (MCLTT) framework based on belief propagation (BP). Under MCLTT, BP-based underwater cooperative localization (BPUCL) and noncooperative mobile target tracking (NcMTT) algorithms are designed. Gaussian approximations are used to reduce communication costs among AUVs. The designed BPUCL alleviates the impact of the accumulated errors in the inertial measurements of AUVs and slows down the growth of the localization error. In NcMTT, model-free position prediction processes are proposed and a novel form of the particle-based BP message is designed using time-difference-of-arrival (TDOA) measurements. The simulation results validate the proposed algorithms by comparing with state-of-the-art methods.