Collaborative target tracking in WSNs using the combination of maximum likelihood estimation and Kalman filtering-利用最大似然估计与卡尔曼滤波相结合的方法，在WSNs中实现协同目标跟踪.pdfVIP

JControl 20131 TheoryAppl 1(1)27—34 DOI10．1007／s11768．013一l176．1 0n andKalman filtering 2 WANG FU 1，Huanshui Xingbo ZHANG¨，Minyue 1．SchoolofConuol and Science 250061，China； Engineering，ShandongUniversity，JinanShandong 2．SchoolofElectrical and of ComputerScience，University 2308，Australia Engineering Newcastle，Callaghan，NSW networksefficientcollaborationsensorstotradeoff wirelesssensor Abstract：Targettrackingusing requires among between and acollaborative inwire— energyconsumptiontrackingaccuracy．Thispaperpresents targettrackingapproach maximumlikelihoodestimationandtheKalmanfilter．Theclusterleader lesssensornetworksthecombinationof using of distancemeasurementsintolinearobservationmode】and thecovariance conveysthereceivednonlinear approximates Kalmanfilterto theconveRedmeasurementnoise maximumlikelihoodestimation．then