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《Chinese Journal of Sensors and Actuators》 2011-01
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Tracking Algorithm Based on Adaptively Robust Filtering for WSNs

TIAN Feng1,GUO Wei1,LIU Xiaolu2,WANG Chuanyun11.School of Computer Science,Shenyang Aerospace University,Shenyang 110136,China;2.College of Civil Engineering,Tongji University,Shanghai 200092,China  
Aiming at the problems of localization error and colored noise,a tracking algorithm has been presented based on adaptively robust Kalman filtering principle.Firstly,the transverse error of observation value was reduced using linear fitting method,and then unknown colored noise and gross error were controlled by constructing self-adaptive factor and equivalent weight function,and reliability factor was constructed according to observation environment to intervene filter computing.Simulating results show that the average position error of tracking is well improved compared with extended Kalman filtering and unscented Kalman filtering in two motion model of line and sine curve under low and high speed separately,and the algorithm has the advantages of high tracking precision,adaptability and fault tolerance for unknown noise and gross error which are effective on maneuvering motion and have good tracking effect.
【Fund】: 辽宁省自然科学基金资助(20082011);; 沈阳市科学技术计划项目资助(1091185-1-00)
【CateGory Index】: TP212.9;TN929.5
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