一种海面目标定位跟踪方法  

A Method of Surface Target Location and Tracking Control

作　　者：曹立杰[1,2] 郭戈[1] 王其华[1,2] 郝立颖[1,2] 

机构地区：[1]大连海事大学信息科学技术学院,大连116026 [2]大连海洋大学信息工程学院,大连116023

出　　处：《科学技术与工程》2015年第26期89-93,108,共6页Science Technology and Engineering

基　　金：国家自然科学基金项目(61273107;61174060);大连市领军人才支持计划项目(2012Z0036);中央高校基本研究项目(3132013334)资助

摘　　要：针对海面可疑目标定位跟踪问题,提出在海面部署无线传感器网络。通过已知节点与未知节点之间的位置关系,估计出未知节点的位置坐标;建立跟踪质点与目标的误差系统方程,考虑网络延时,分为理想和有海浪干扰两种情况:理想情况下,给出系统渐近稳定的条件,并通过定义李雅普诺夫函数和Schur定理进行证明,求解线性矩阵不等式,得到控制器,使系统渐近稳定;当系统存在海浪干扰时,给出H∞控制的条件,并证明此条件下,控制器可使系统渐近稳定,由此实现对目标的跟踪。数值仿真验证了所设计定位跟踪方法的有效性。On the surface of the suspicious target tracking problem, deploy the wireless sensor network （WSN）, by the relationship of known and unknown nodes, the unknown node location coordinates can be esti- mated ; the error system of tracking node and target is established, the time delay of network has been considered. Divided into ideal and wave disturbance there are two kinds ： ideally, given the conditions of the system asymptoti- cally stable, and by defining the lyapunov function and Schur theorem to prove it, to solve the linear matrix ine- quality （LMI） and achieve the controller to make the system asymptotically stable. When the system exists the wave interference, condition of H∞ controller had been proved, the controller can realize gradual stability of the sys- tem, thus to realize target tracking. Numerical simulation verified the effectiveness of the designed controller.

关 键 词：海面无线传感网 目标追踪 误差 状态延时 

分 类 号：U666.14[交通运输工程—船舶及航道工程] TP273[交通运输工程—船舶与海洋工程]