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摘要当今社会，人们愈来愈关心无线传感器网络的发展，其应用的范围也愈加广泛，涵盖了多个不同的领域。这其中，目标跟踪技术可以说是其众多应用中的一个热点。简单来说，所谓基于WSN的目标跟踪技术，就是利用无线传感器网络中的多个或是全部传感器节点，对处于其检测范围内的目标物体的运动进行监测的行为。这项技术在很多领域都得到了应用，并且在不断地发展着。
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本文首先对于无线传感器网络以及基于WSN的目标跟踪技术的概念、发展概况、优缺点等进行了详细的介绍；其次对于课题中可能会涉及到的目标跟踪技术的相关知识进行了严谨的说明与公式推导，包括目标的运动模型、量测方程，以及滤波算法(针对线性情况的卡尔曼滤波算法以及针对非线性情况的扩展卡尔曼滤波算法)，为研究的顺利进行打下了良好的基础；最后对于目标跟踪测试，也就是本课题主要完成的任务进行了说明，包括如何获得仿真量测角度值、采用何种运动模型、所选用的滤波算法、程序流程、数据分析等等。21761
总体来说，本文基本完成了课题的要求，完成了目标跟踪的任务，并对滤波性能的好坏做出了分析。
关键词 无线传感器网络 目标跟踪 卡尔曼滤波 扩展卡尔曼滤波
毕业论文设计说明书（论文）外文摘要
Title Research on target tracking technology in sensor
network with only angle measurement
Abstract
Nowadays, wireless sensor network has been developed rapidly. It has been used in many aspects, which helps it to get much more attention. Among all these application, target tracking technology may be the most popular one. In simple terms, target tracking which is based on wireless sensor network is a technology which uses some or all the sensors in the network to track an object which is moving in the area where the sensors can track. It is obviously that target tracking technology is developing very fast.
Firstly, we gave some basic information about WSN and the target tracking technology based on WSN, including definition, general situation of development and the advantages and disadvantages of these technologies. Secondly, we gave a precise description on the relevant knowledge of target tracing technology that might be useful for us, including the motion model of the target, the measure equation and the filter algorithm (Kalman Filter algorithm for linear system and Extended Kalman Filter algorithm for nonlinear system). Thirdly, we explained the work we did during our project, including choosing the method to get the data of angle, the motion model and the filter algorithm. Also, we finished writing a program to track the target and analyzed the performance of the filter algorithm.
In general, we have managed to finish our project, tracked the target and analyzed the performance of the filter algorithm.
Keywords WSN target tracking Kalman Filter EKF
目 次
1 绪论 1
1.1 研究背景 1
1.2 发展状况 1
1.3 无线传感器网络 1
1.4 基于WSN的目标跟踪技术 3
1.5 研究内容和成果 4
1.6 章节安排 4
2 目标跟踪技术 6
2.1 无线传感器网络中目标跟踪的基本原理 6