Description

This work studies the problem of tracking signal-emitting mobile targets using navigated mobile sensors based on signalreception. Since the mobile target’s maneuver is unknown, the mobile sensor controller utilizes the measurement collected by awireless sensor network in terms of the mobile target signal’s time of arrival (TOA). The mobile sensor controller acquires the TOAmeasurement information from both the mobile target and the mobile sensor for estimating their locations before directing the mobilesensor’s movement to follow the target. We propose a min-max approximation approach to estimate the location for tracking which canbe efficiently solved via semidefinite programming (SDP) relaxation, and apply a cubic function for mobile sensor navigation. Weestimate the location of the mobile sensor and target jointly to improve the tracking accuracy. To further improve the systemperformance, we propose a weighted tracking algorithm by using the measurement information more efficiently. Our resultsdemonstrate that the proposed algorithm provides good tracking performance and can quickly direct the mobile sensor to follow themobile target.