A Recursive Robust Set-Membership Estimator for WSN-Assisted Moving Targets Tracking With UBB Anchor Location Uncertainty

Abstract

In this paper, a recursive robust set-membership fusion estimator (RSMFE) is presented to track the moving targets treated as the mobile nodes in a mobile wireless sensor network (MWSN) system with unknown but bounded (UBB) anchor location uncertainty. Firstly, the accurate ellipsoidal set containing the Lagrange remainder of nonlinear distance measurement, which contains the effect of anchor location uncertainty, is estimated and adopted to improve the stability and accuracy of the moving target tracking. Secondly, the recursive RSMFE-based tracking formulae of reduced computation complexity, consisting of the prediction formulae and the fusion update formulae, are derived to estimate the robust minimized or optimal ellipsoidal set containing the actual moving target state by appropriately fusing the measured distances from the nearby anchors subject to the UBB anchor location uncertainty, where the computation complexity of the fusion update formulae is reduced substantially based on the decoupled techniques and the equivalent transformation. Finally, the numerical simulation and experiment of the WSN-assisted moving target tracking system with various anchor location uncertainty settings are performed to verify the effectiveness and superiority of the proposed recursive RSMFE-based moving target tracking or localization method.