An Enhanced CPA Algorithm for Real-Time Target Tracking in Wireless Sensor Networks

Abstract

Real-time tracking of moving targets using wireless sensor networks has been a challenging problem because of the high velocity of the targets and the limited resources of the sensors. CPA (closest point of approach) algorithms are appropriate for tracking fast-moving targets since the tracking error is roughly inversely proportional to the square root of the target velocity. However, this approach requires a specific node configuration with reference to the target trajectory which may not always be possible in randomly deployed sensor networks. Moreover, our mathematical analysis of the original CPA algorithm shows that it suffers from huge localization errors due to inaccuracies in sensor location and measured CPA times. To address these issues, we propose an enhanced CPA (ECPA) algorithm which requires only five sensors around the target to achieve the reliability and efficiency we want for computing the bearing of the target trajectory, the relative position between the sensors and the trajectory, and the velocity of the target. To validate the ECPA algorithm, we designed and implemented this algorithm over an actual data-centric acoustic sensor network as well as simulating it in an NS-2 simulator. The results of our field experiments and simulations show that we can achieve our goals of detecting the target and predicting its location, velocity and direction of travel with reasonable accuracy.

Distributed network control for mobile multi-modal wireless sensor networks

“…This coincides with the concept of closest point of approach (CPA) events [2,15,30]. In other terms, when the object passes closest to the sensor node, the sensor's signal reaches a peak and the event is signaled.…”

Efficiency improvement in multi-sensor wireless network based estimation algorithms for distributed parameter systems with application at the heat transfer

“…The paper [26] presents a technical solution based on acoustic and visual sensors. Another solution for real time tracking in wireless sensor networks is presented in the paper [27]. The usage of estimation for monitoring service attacks in sensor networks is an important application.…”

Interconnection between IP Networks and Wireless Sensor Networks

“…The research was first mathematically formalized for flying airplanes in the more general three-dimensional scenario by Dommermuth in [35] and modified to the two-dimensional scenario by Yang et al in [36][37][38] for use in tracking ground-based targets through an acoustic WSN.…”

“…Previous theoretical research has developed algorithms for determining the location (at a particular point in time), speed, and direction of movement of a target which emits acoustic sound waves traveling through an array of acoustic sensors. The research was first mathematically formalized for flying airplanes in the more general three-dimensional scenario by Dommermuth in [35] and modified to the two-dimensional scenario by Yang et al in [36][37][38] for use in tracking ground-based targets through an acoustic WSN.…”