We propose two nonmyopic sensor scheduling algorithms for target tracking applications. We consider a scenario where a bearingonly sensor is constrained to move in a finite number of directions to track a target in a two-dimensional plane. Both algorithms provide the best sensor sequence by minimizing a predicted expected scheduler cost over a finite time-horizon. The first algorithm approximately computes the scheduler costs based on the predicted covariance matrix of the tracker error. The second algorithm uses the unscented transform in conjunction with a particle filter to approximate covariance-based costs or information-theoretic costs. We also propose the use of two branch-and-bound-based optimal pruning algorithms for efficient implementation of the scheduling algorithms. We design the first pruning algorithm by combining branch-and-bound with a breadth-first search and a greedy-search; the second pruning algorithm combines branch-and-bound with a uniform-cost search. Simulation results demonstrate the advantage of nonmyopic scheduling over myopic scheduling and the significant savings in computational and memory resources when using the pruning algorithms.
In this paper, we propose two myopic sensor scheduling algorithms for target tracking scenarios in which there is a tradeoff between tracking performance and sensor-usage costs. Specifically, we consider the problem of activating the lowest cost combination of at most sensors that maintains a desired squared-error accuracy in the target's position estimate. For sensors that provide position information only, we develop a binary (0-1) mixed integer programming formulation for the scheduling problem and solve it using a linear programming relaxation-based branch-and-bound technique. For sensors that provide both position and velocity information, we pose the scheduling problem as a binary convex programming problem and solve it using the outer approximation algorithm. We apply our scheduling procedures in a network of sensors where the sensor-usage costs correspond to network energy consumption. Our simulation results demonstrate that scheduling using binary programming allows us to obtain optimal solutions to scheduling involving up to 50-70 sensors typically in the order of seconds.
The performance of passive acoustic signal-processing techniques can become severely degraded when the acoustic source of interest is obscured by strong interference. The application of matrix filters to suppress interference while passing a signal of interest with minimal distortion is presented. An algorithm for single-frequency matrix filter design is developed by converting a constrained convex optimization problem into a sequence of unconstrained problems. The approach is extended to broadband data by incoherently combining the responses of matrix filters designed at frequencies across a band of interest. The responses of single-frequency and multifrequency matrix filters are shown. Examples are given which demonstrate the effectiveness of matrix filtering applied to matched-field localization of a weak source in the presence of a strong interferer and noise. These examples show the matrix filter effectively suppressing the interference, thereby enabling the localization of the weak source. Standard matched-field processing, without matrix filtering, is not effective in localizing the weak source.
In this letter, we consider the problem of activating the optimal combination of sensors to track a target moving through a network of sensors. Our objective is to minimize the predicted approximate error in the target position estimate subject to constraints on sensor usage and sensor-usage costs. We formulate the scheduling problem as a binary convex programming problem and solve it using the outer approximation (OA) algorithm. We apply the proposed OA scheduling method to the scenario of tracking an underwater target using a network of active sensors. We demonstrate using Monte Carlo simulations that our OA scheduling method obtains optimal solutions to scheduling problems of up to 70 sensors in the order of seconds.
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