CN105334492B - Method for tracking target and device based on sensor network - Google Patents
Method for tracking target and device based on sensor network Download PDFInfo
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Abstract
The invention discloses a kind of method for tracking target and device based on sensor network, belong to communication technical field.Method includes：According to multiple BPS output valve and multiple BPS position relationship, the first area of target to be tracked is determined；When detect multiple BPS include the first BPS and the first BPS output valve from the first numerical value change be second value when, according to the first BPS induction region, the second area reduced in first area, obtain the 3rd region；According to the 3rd region and the 4th region, target is tracked, the 4th region is the region beyond second area in first area.The present invention is it is determined that behind the first area of target to be tracked, whenever detect multiple BPS include the first BPS and the first BPS output valve from the first numerical value change be second value when, the second area then reduced in first area, so the position of target more accurately position, and then when being tracked according to the 3rd region and the 4th region to target, tracking rate of precision is high.
Description
Technical field
The present invention relates to communication technical field, more particularly to a kind of method for tracking target and dress based on sensor network
Put.
Background technology
In the field of communications, BPS (Binary Proximity Sensors, binary system proximity transducer) with its it is low into
The features such as sheet, small volume, low energy consumption, is widely used in movable object tracking.For a BPS, when in its induction region
When target be present, BPS outputs " 1 "；When in its induction region without target, BPS outputs " 0 ".In a Regional Distribution
After multiple BPS form sensor network, when multiple targets move in this region, each BPS in sensor network is obtained
Output valve, a binary system can be obtained and read sequence, and then sequence is read according to the binary system and can be achieved to multiple mobile targets
It is tracked.
Therefore, on November 8th, 2012 disclosure, Publication No. " CA2834916A1 ", entitled " Two-Stage
Filltering Based Method For Multiple Target Tracking (based on the multiple target of two-stage filter with
Track) " Canadian Patent file in, it is proposed that a kind of multi-object tracking method, specifically include herein below：In sensor network
The middle multiple BPS of deployment, every prefixed time interval, obtain each BPS output valve, each output valve are formed into the sampling instant
Binary system read sequence；Sequence is read according to the binary system of the current sample time, it is each according to a preliminary estimate first by clustering algorithm
Target is in the position of current sample time；Then Bayesian Estimation is passed through in the position of a upper sampling instant according to each target
Algorithm is modified to each target in the position of current sample time, based on the position Jing Guo revised each target, then
The position of next sampling instant is modified, above-mentioned steps are carried out to position of the target in each sampling instant.Finally,
For each target in multiple targets, target is polymerize in the revised position of each sampling instant, is just somebody's turn to do
The pursuit path of target.
However, when taking the above method to be tracked multiple target, due to clustering algorithm and Bayesian Estimation algorithm
Accuracy is limited, so obtained pursuit path compared with the actual path of target, has relatively large deviation, target following rate of precision
Not high, tracking effect is bad.
The content of the invention
In order to solve problem of the prior art, the embodiments of the invention provide a kind of target following based on sensor network
Method and device.The technical scheme is as follows：
First aspect, there is provided a kind of method for tracking target based on sensor network, methods described include：
According to multiple BPS output valve and the multiple BPS position relationship, the firstth area of target to be tracked is determined
Domain, a patch area is comprised at least in the first area, the patch area is the subregion of BPS induction regions, and is appointed
Two non-overlapping parts of patch area of meaning；
When the output valve for detecting the multiple BPS and including the first BPS and the first BPS is from the first numerical value change
During second value, according to the induction region of the first BPS, the second area reduced in the first area, the 3rd area is obtained
Domain, the first BPS are the BPS that current output valve changes, and the second area is to be become by the first BPS output valves
Change the BPS induction regions influenceed；
According to the 3rd region and the 4th region, the target is tracked, the 4th region is described first
Region described in region beyond second area.
Alternatively, it is described when detecting that the multiple BPS includes the first BPS and the first BPS output valve from the
When one numerical value change is second value, according to the induction region of the first BPS, the secondth area reduced in the first area
Domain, the 3rd region is obtained, including：
When detecting that the multiple BPS includes the first BPS and the first BPS output valve from the described first number
When value changes are the second value, according to the induction region of the first BPS, determine in the second area with described first
The overlapping region of BPS induction regions；
From the second area, the patch area included by the overlapping region is removed, obtains the 3rd region.
Alternatively, methods described also includes：
When detecting that the multiple BPS includes the first BPS and the first BPS output valve from the described second number
When value changes are first numerical value, according to the induction region of the first BPS and the second area, the 5th region is obtained.
Alternatively, methods described also includes：
Calculated, and obtained according to the current BPS output value changes moment and the upper BPS output value changes moment
First time difference；
In BPS output valve transformation period differences with the corresponding relation of extension yardstick, obtaining and the first time difference
The extension yardstick to match；
According to the extension yardstick, the 4th region is extended.
Alternatively, it is described when detecting that the multiple BPS includes the first BPS and the first BPS output valve from the
When one numerical value change is second value, according to the induction region of the first BPS, the secondth area reduced in the first area
Domain, after obtaining the 3rd region, methods described also includes：
Judge whether include in the 3rd region and the 4th region beyond the region of predetermined threshold value；
If the 3rd region and the 4th region include, beyond the region of predetermined threshold value, having removed the target
Pursuit path is generated, the target is tracked again.
Second aspect, there is provided a kind of target tracker based on sensor network, described device includes：
Area determination module, for the output valve according to multiple BPS and the multiple BPS position relationship, it is determined that treat with
The first area of the target of track, a patch area is comprised at least in the first area, the patch area is BPS induction zones
The subregion in domain, and the non-overlapping part of any two patch area；
Area reduction module, detect that the multiple BPS includes the first BPS and the first BPS output for working as
Value from the first numerical value change be second value when, according to the induction region of the first BPS, reduce in the first area the
Two regions, the 3rd region is obtained, the first BPS is the BPS that current output valve changes, and the second area is by institute
State the BPS induction regions that the first BPS output value changes influence；
Target tracking module, for according to the 3rd region and the 4th region, being tracked to the target, described
Four regions are the region beyond second area described in the first area.
Alternatively, the area reduction module, detect that the multiple BPS includes the first BPS and institute for working as
State the first BPS output valve from first numerical value change be the second value when, according to the induction zone of the first BPS
Domain, determine the overlapping region with the first BPS induction regions in the second area；From the second area, institute is removed
The patch area included by overlapping region is stated, obtains the 3rd region.
Alternatively, the area reduction module, be additionally operable to when detect the multiple BPS include the first BPS and
The output valve of first BPS from the second value become turn to first numerical value when, according to the induction zone of the first BPS
Domain and the second area, obtain the 5th region.
Alternatively, described device also includes：
Time difference computing module, for according to the current BPS output value changes moment and the upper BPS output valves
The change moment is calculated, and obtains first time difference；
Yardstick acquisition module is extended, in corresponding relation of the BPS output valve transformation period differences with extending yardstick, obtaining
Take the extension yardstick to match with the first time difference；
Region expansion module, for according to the extension yardstick, being extended to the 4th region.
Alternatively, described device also includes：
Region decision module, for judging whether include in the 3rd region and the 4th region beyond the area of predetermined threshold value
Domain；
Module is removed in track, for when the 3rd region and the 4th region include exceeding the region of predetermined threshold value,
The generation pursuit path of the target is removed, the target is tracked again.
The beneficial effect that technical scheme provided in an embodiment of the present invention is brought is：
In object tracking process, the output valve of position relationship and multiple BPS based on each BPS, determine to be tracked
The first area of target, afterwards, whenever detecting that multiple BPS include a BPS, then according to the first BPS induction region
The second area reduced in first area, obtains the 3rd region, the position of target more accurately position, entered
And target is tracked according to the 3rd region and the 4th region, more accurate pursuit path is can obtain, target following is accurate
Rate is high, and tracking effect is preferable.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the corresponding relation figure of a kind of binary system output sequence provided in an embodiment of the present invention and target position；
Fig. 2 is the corresponding relation schematic diagram of a kind of output valve provided in an embodiment of the present invention and time；
Fig. 3 is the schematic diagram that a kind of target provided in an embodiment of the present invention may pass through arc；
Fig. 4 is a kind of schematic diagram of monotrack track provided in an embodiment of the present invention；
Fig. 5 is a kind of flow chart of method for tracking target based on sensor network provided in an embodiment of the present invention；
Fig. 6 is a kind of flow chart of method for tracking target based on sensor network provided in an embodiment of the present invention；
Fig. 7 is the tree-shaped schematic diagram of a kind of patch area provided in an embodiment of the present invention；
Fig. 8 is a kind of schematic diagram of target distribution provided in an embodiment of the present invention；
Fig. 9 is a kind of schematic diagram of target distribution provided in an embodiment of the present invention；
Figure 10 is a kind of schematic diagram of the target provided in an embodiment of the present invention from distribution；
Figure 11 is a kind of schematic diagram of target distribution provided in an embodiment of the present invention；
Figure 12 is a kind of schematic diagram of target distribution provided in an embodiment of the present invention；
Figure 13 is a kind of schematic diagram of target distribution provided in an embodiment of the present invention；
Figure 14 is a kind of binary system output sequence provided in an embodiment of the present invention and the corresponding relation figure of target distribution；
Figure 15 is a kind of schematic diagram of multiple target tracking track provided in an embodiment of the present invention；
Figure 16 is a kind of structural representation of target tracker based on sensor network provided in an embodiment of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
Before explanation is explained in detail to multiple target tracking process provided in an embodiment of the present invention, first to monotrack
Process is simply introduced, in order to the subsequently understanding to multiple target tracking process.
Referring to Fig. 1, the tri filling block of the center position of induction region 1, induction region 2 and induction region 3 is placement
Three sensors BPS1, BPS2 and BPS3.When target be present in induction region 1, BPS1 can perceive to target, and defeated
Go out 1；When target be present in induction region 2, BPS2 can perceive to target, and export 1；When mesh being present in induction region 3
Timestamp, BPS3 can perceive to target, and export 1.As shown in Figure 1, due to three BPS placement location relatively, institute
It is overlapped with induction region 1, induction region 2 and induction region 3.In order to be finely divided to each BPS induction region, this hair
Bright embodiment introduces the concept of patch area.That is, the area that induction region 1, induction region 2 and induction region 3 are covered
Domain is divided into the patch area of multiple non-overlapping copies.Wherein, patch area is the subregion of induction region, for BPS's
For induction region, it can be divided into multiple patch areas, and any two patch area non-overlapping copies.In Fig. 1, induction region
1st, induction region 2 and induction region 3 can be divided into 7 patch areas altogether, and target is in different patch areas, binary system output
The numerical value of sequence is different.Then must be that target strides into from a patch area that is, once binary system output sequence changes
Another patch area.
With the first output valve for BPS1 of binary system output sequence, interposition is BPS2 output valve, and last position is BPS3
Output valve exemplified by, then after target is striding into a patch area at the t1 moment by e1 points, binary system output sequence be 100,
And before target is carved and enters next patch area by e2 points, it is constant that binary system output sequence always remains as 100.Work as mesh
Be marked on the t2 moment by e2 points enter next patch area after, binary system output sequence changes, and is changed into 110 from 100；This
When target be located at the overlapping region of induction region 1 and induction region 2.When target strides into next patch at the t3 moment by e3 points
Behind region, binary system output sequence is changed into 010 from 110, and now target leaves induction region 1, is fully located at the benefit of induction region 2
In fourth region.Referring to Fig. 2, during target marches to e3 points from e1 points (namely at the t1 moment to t3 moment), BPS1's
Output valve is 1 always.
After target is entering next patch area at the t4 moment by e4 points, binary system output sequence is changed into from 010
011；Now target is located at the overlapping region of induction region 2 and induction region 3.When target striden into by e5 points at the t5 moment it is next
After individual patch area, binary system output sequence is changed into 001 from 011, and now target leaves induction region 2, is fully located at induction zone
In the patch area in domain 3.Referring to Fig. 2, during target marches to e5 points from e2 points (namely at the t2 moment to t5 moment),
BPS2 output valve is 1 always.After target is entering next patch area at the t4 moment by e4 points, binary system output sequence
It is changed into 011 from 010；Now target is located at the overlapping region of induction region 2 and induction region 3.When target passes through e6 at the t6 moment
After point, binary system output sequence is changed into 000 from 001, and now target leaves induction region 3.Referring to Fig. 2, in target from e4 point rows
During proceeding to e6 points (namely at the t4 moment to t6 moment), BPS3 output valve is 1 always.
As the above analysis, changed according to the reading of binary system output sequence, the motion track of target can be extrapolated.Than
Such as, referring to Fig. 3, be changed into 100 to t2 moment binary system output sequences from 000 at the t1 moment, thus understand t1 moment target across
Arc AD is got over；It is changed into 110 to t3 moment binary system output sequences from 100 at the t2 moment, so understanding at the t2 moment to t3 moment
Target spans arc AB；Be changed into 010 to t4 moment binary system output sequences from 110 at the t3 moment, thus understand the t3 moment extremely
T4 moment targets span arc AC；It is changed into 011 to t5 moment binary system output sequences from 010 at the t4 moment, so understanding in t4
Moment to t5 moment targets span arc CF；It is changed into 001 to t6 moment binary system output sequences from 011 at the t5 moment, so can
Know and span arc EF at the t5 moment to t6 moment targets；It is changed into 000 from 001 in t6 moment binary system output sequences, so understanding
Arc DF is spanned in t6 moment targets.With reference to time difference of the t1 moment into the t6 moment between each moment in Fig. 2, can obtain
To all target trajectorys as shown in Figure 4.The track combined in Fig. 4 by each directed line segment is just target following track.
Wherein, each point in Fig. 4 on edge line is represented in t1 moment, t2 moment, t3 moment, t4 moment, t5 moment and t6 moment mesh
Target may position.
Fig. 5 is a kind of flow chart of method for tracking target based on sensor network provided in an embodiment of the present invention.Referring to
Fig. 5, method flow provided in an embodiment of the present invention include：
501st, according to multiple BPS output valve and multiple BPS position relationship, the firstth area of target to be tracked is determined
Domain, a patch area is comprised at least in first area, patch area is the subregion of BPS induction regions, and any two is mended
The non-overlapping part in fourth region.
In embodiments of the present invention, target to be tracked be multiple and to be tracked destination numbers be typically in one compared with
In small number range.That is, the method for tracking target provided in an embodiment of the present invention based on sensor network is applied to target
Under the more sparse scene of quantity, with this ensure set sensor network each target in induction region can be carried out with
Track.
502nd, when detect multiple BPS include the first BPS and the first BPS output valve from the first numerical value change be second
During numerical value, according to the first BPS induction region, the second area reduced in first area, the 3rd region is obtained, the first BPS is
The BPS that current output valve changes, second area are the BPS induction regions influenceed by the first BPS outputs value changes.
503rd, according to the 3rd region and the 4th region, target is tracked, the 4th region is the secondth area in first area
Region beyond domain.
Method provided in an embodiment of the present invention, in object tracking process, position relationship based on each BPS and multiple
BPS output valve, the first area of target to be tracked is determined, afterwards, whenever detecting that multiple BPS include a BPS,
The second area then reduced according to the first BPS induction region in first area, obtains the 3rd region, so the place to target
Position more accurately position, and then target is tracked according to the 3rd region and the 4th region, can obtain more
Accurate pursuit path, target following rate of precision is high, and tracking effect is preferable.
Alternatively, when detecting that multiple BPS include a BPS, according to the first BPS induction region, first is reduced
Second area in region, the 3rd region is obtained, including：
When detect multiple BPS include the first BPS and the first BPS output valve from the first numerical value change be second value
When, according to the first BPS induction region, determine the overlapping region with the first BPS induction regions in second area；
From second area, the patch area included by overlapping region is removed, obtains the 3rd region.
Alternatively, this method also includes：
When detecting that multiple BPS include the first BPS and the first BPS output valve and become from second value and turn to the first numerical value
When, according to the first BPS induction region and second area, obtain the 5th region.
Alternatively, this method also includes：
Calculated according to current BPS output value changes moment and upper BPS output value changes moment, obtain the very first time
Difference；
In BPS output valve transformation period differences with the corresponding relation of extension yardstick, obtaining and first time difference phase
The extension yardstick matched somebody with somebody；
According to extension yardstick, the 4th region is extended.
Alternatively, when the output valve for detecting multiple BPS and including the first BPS and the first BPS is from the first numerical value change
During second value, according to the first BPS induction region, the second area reduced in first area, should after obtaining the 3rd region
Method also includes：
Judge whether include in the 3rd region and the 4th region beyond the region of predetermined threshold value；
If the 3rd region and the 4th region include removing the tracking of generation of target beyond the region of predetermined threshold value
Track, target is tracked again.
Above-mentioned all optional technical schemes, any combination can be used to form the alternative embodiment of the present invention, herein no longer
Repeat one by one.
Fig. 6 is a kind of flow chart of method for tracking target based on sensor network provided in an embodiment of the present invention.Referring to
Fig. 6, method flow provided in an embodiment of the present invention include：
601st, according to multiple BPS output valve and multiple BPS position relationship, the firstth area of target to be tracked is determined
Domain, a patch area is comprised at least in first area, patch area is the subregion of BPS induction regions, and any two is mended
The non-overlapping part in fourth region.
For a BPS, due to an induction region be present, so in sensor network, each BPS position
Put relation and directly determine whether each BPS induction region is overlapped.In embodiments of the present invention, in order to to be tracked
Target carries out precise positioning, typically each sensor is placed it is relatively near, so the induction region of each sensor is generally mutual
It is overlapping.And if each BPS induction region is overlapped, then in the output valve (binary system output sequence) according to multiple BPS
When carrying out target following, the overlapping cases of induction region will certainly impact to target following situation.
For giving one example, induction region 1, induction region 2 and induction region 3 are overlapped in Fig. 4.It is assuming that current
Multiple BPS output valve is 111, then because induction region is overlapped, then it is determined that target to be tracked first area when,
First area may have a variety of possible situations.The first area is probably the overlapping region of three induction regions, such as by line segment
BC- line segment CE- line segment EB area defined.The first area be probably two induction regions overlapping region and a sensing
The patch area in region, such as by line segment BD- line segment DE- line segment EB area defined and by line segment AC- line segment CF line segments FA
Area defined.So it is determined that target to be tracked first area when, will also be according to multiple BPS's in sensor network
Position relationship.
In embodiments of the present invention, can by the plurality of BPS after determining the region that multiple BPS can be sensed
The region division sensed is into multiple patch areas, and the patch area is the subregion of BPS induction regions, and any two patch
The non-overlapping part in region.In addition, when multiple BPS export a binary sequence, in order to predict the first of target to be tracked
Region, namely the possible region of target, the embodiment of the present invention establish a patch area dendrogram as shown in Figure 7.
One patch area of each node on behalf in Fig. 7, and father's section of node node where arrow original position of arrow meaning
Point, and probability of occurrence of the target in father node is more than the probability of occurrence in child node.The foundation of the patch area dendrogram
Principle is：When target be present in a certain patch area positioned at patch area dendrogram bottom, then for the patch area
Domain have annexation and positioned at patch area dendrogram upper strata other patch areas for, no matter other patch areas
In binary system output sequence will not be impacted with the presence or absence of target.For example for, in fig. 8, when patch area 3
In when target be present, then no matter other 6 patch areas (patch area 1, patch area 2, patch area 4, patch area 5, are mended
Fourth region 6, patch area 7) in whether there is target, three BPS output valve is 1.That is, the patch area shown in Fig. 7
Dendrogram characterizes the relation that influences each other between each patch area, namely characterizes the position relationship between each BPS.
Wherein, in the output valve according to multiple BPS and multiple BPS position relationship, the first of target to be tracked is determined
During region, can specifically following manner be taken to realize：
Since the root node of patch area dendrogram, carried out from bottom to top successively time according to the annexation shown in arrow
Go through；Whenever a node is traveled through, it is determined that current BPS corresponding to traverse node；By currently corresponding to traverse node
BPS output valve puts 1, and the output valve of the BPS corresponding to currently non-traverse node is set to 0, the preset binary system output of composition one
Sequence, preset binary system output sequence is compared with multiple BPS output valve；If the numerical value of the two is consistent, ought
The preceding first area for having traveled through patch area and being defined as target to be tracked.If the numerical value of the two is inconsistent, continue
Traversal.Above-mentioned steps are repeated, until reaching the top of patch area dendrogram.
Certainly, in addition to the mode of the first area of above-mentioned determination target to be tracked, other determination modes can be also taken,
The embodiment of the present invention is not especially limited to this.It should be noted that multiple BPS output valves are being formed into binary system output sequence
When, the binary system output sequence is generated according to certain rule.For example BPS1 output valve is placed in binary system output sequence
The 1st, BPS2 output valve is placed in the 2nd of binary system output sequence, by BPSn output valve be placed in binary system output
N-th of sequence.Certainly, in addition to taking above-mentioned generating mode, other binary system output sequences can be also taken, the present invention is implemented
Example is not especially limited to this.Only need to ensure to take unified create-rule when generating binary system output sequence each time.This
Outside, the first area of target to be tracked may include the possible region of multiple targets, namely first area is that target may institute
The first candidate solution in position.Referring to Fig. 8, each region being marked is the possible region of a target in fig. 8,
The possible region of 5 targets in Fig. 8 is referred to as the first area of target to be tracked.
602nd, when detecting that multiple BPS include a BPS, according to the first BPS induction region, first area is reduced
In second area, obtain the 3rd region, the first BPS is the BPS that current output valve changes, and second area is by first
The BPS induction regions that BPS output value changes influence.
Wherein, the first BPS is the BPS that current output valve changes.Become that is, the first BPS refers to current output valve by 1
0 BPS is turned to, or current output valve is turned to 1 BPS by 0 change.Second area belongs to first area, namely second area is
The subregion of first area.It may include one or more patch area in the second area.When the first BPS output valve becomes
It is the induction region border that the target being located in second area has passed through the first BPS at current time certainly during change.According to first
BPS current output valve is become by 1 turns to 0, or is become by 0 and turn to 1 both of these case, takes following two ways may institute to target
It is adjusted in region.
First way, when detecting that multiple BPS include the first BPS and the first BPS output valve and become from the first numerical value
When turning to second value, according to the first BPS induction region, the overlay region with the first BPS induction regions in second area is determined
Domain；From second area, the patch area included by overlapping region is removed, obtains the 3rd region.
Wherein, the first numerical value refers to numerical value 1, and second value refers to numerical value 0.Whenever detecting the first BPS in multiple BPS
When, you can it is determined that the target on the current induction region border for passing through the first BPS is now placed in outside the first BPS induction region
Neighboring area.So when BPS output valve is become by 1 and turns to 0, the possible region of a target can be contracted
Small processing, so as to reach the purpose that more precision positioning is carried out to target.Further, since the possible region of target is carried out
Reduce, so target is likely to occur range shorter.And target is captured in an a small range, intercept or strike at
Reason, precision compared to it is a wide range of interior when have and be substantially improved.
In embodiments of the present invention, when detecting that multiple BPS include a BPS, be able to can feel in multiple BPS
The first BPS induction region is determined in the region answered.According to the first BPS induction region position, first can be determined
Target possible region in which of region receives the influence of the first BPS output valves.That is, which target may institute
Nearest in the BPS of region distance the first induction region, then the possible region of the target is just second area.Further, exist
After determining second area in first area, the first BPS sensing can be determined according to the covering scope of the first BPS induction region
Region and the lap of second area.0 is turned to because current first BPS output valve is become by 1, so being positioned at the two certainly
The induction region border that target in overlapping region passes through the first BPS from the overlapping region have left the first BPS induction zone
Domain, so when reduce processing to second area, the overlapping region in second area is abandoned, now second area
In remaining part be just the 3rd region.
An example carries out that explanation is explained in detail to above-mentioned first way below.
Determine that 5 targets may region in the patch area dendrogram according to Fig. 7 and multiple BPS output valve
(the filled black node in Fig. 7) afterwards, can obtain target distribution schematic diagram as shown in Figure 8.5 targets may institute in fig. 8
Filled respectively with different filling patterns in region.The first BPS induction region is black overstriking lines bag in fig. 8
The region enclosed.Using the region of " oblique line " filling as target possibility region A, using the region of " small rhombus " filling as target possibility
Region B, using " lattice " filling region for target may region C, using " horizontal line " filling region can as target
Can region D, by the region of " vertical line " filling for target may exemplified by the E of region, then as shown in Figure 8 target may where
The BPS of region A distances the first induction region is nearest, so the possible region A of target is just second area.Due to when current
The output valve for carving the first BPS turns to 0 by 1 change, so second area is worn with the target in the first BPS induction region lap
The first BPS induction region border has been got over, has been entered as carried out in the region of black overstriking dotted line in 9 with " oblique line "
The region of mark, namely the 3rd region.Contrasted from Fig. 8 and Fig. 9, second area (including a fusiformis region and one three
Angular zone) after diminution processing is carried out, just it is the 3rd region (Delta Region).
When the output valve of BPS next time changes, using the first BPS induction region as Fig. 9 in black overstriking lines
Exemplified by the region of encirclement, then the possible BPS of region B distances the first of target induction region is nearest as shown in Figure 9, so target
Possible region B is just second area.0 is turned to due to being become in the BPS of current time the first output valve by 1, so the secondth area
Target Traversing in domain and the first BPS induction region lap the first BPS induction region border, has entered such as 10
The region being labeled with " small rhombus " in the region of middle black overstriking dotted line, namely the 3rd region.By Fig. 9 and Figure 10
Contrast understands that second area (including a fusiformis region and a Delta Region) is just the 3rd area after diminution processing is carried out
Domain (Delta Region).
When BPS output valve changes next time under, using the first BPS induction region as Figure 10 in black overstriking line
Exemplified by the region that bar surrounds, then the possible BPS of region C distances the first of target induction region is nearest as shown in Figure 10, so
The possible region C of target is just second area.0 is turned to due to being become in the BPS of current time the first output valve by 1, so the
Target Traversing in two regions and the first BPS induction region lap the first BPS induction region border, is entered
The region being labeled with " lattice " in such as 11 in the region of black overstriking dotted line, namely the 3rd region.By Figure 10
With Figure 11 contrast understand, second area (including two fusiformis regions and two Delta Regions) after diminution processing is carried out, just for
3rd region (Delta Region).
The second way, when detecting that multiple BPS include the first BPS and the first BPS output valve and become from second value
When turning to the first numerical value, according to the first BPS induction region and second area, the 5th region is obtained.
For the second way, when the first BPS output valve is become by 0 turns to 1, you can it is determined that can in current target
Target Traversing that can be in region the first BPS induction region border, has been entered within the first BPS induction region.
, can be first according to the first BPS induction region and when the induction region according to the first BPS and second area determine five regions
What two regions determined the BPS of Target Traversing the first induction region passes through arc, and the patch area where passing through arc is defined as into
Five regions.
An example carries out that explanation is explained in detail to the above-mentioned second way below.
Referring to Figure 12, so that the first BPS induction region is the region that black overstriking lines surround as an example, then as shown in Figure 12
The possible BPS of region E distances the first of target induction region is nearest, so the possible region E of target is just second area.
1 is turned to due to being become in the BPS of current time the first output valve by 0, so target has been crossed into the first BPS's from second area
Induction region, enter such as the region being labeled with " vertical line " in the region of black overstriking dotted line in 13, namely
5th region.Target is understood in fig. 13 by the induction region for passing through arc and entering the first BPS shown in black overstriking lines,
So the region marked with " vertical line " that arc is passed through comprising this can be defined as the 5th region.
It should be noted that after the second area in first area is adjusted, current binary system is not being influenceed
In the case of output sequence numerical value, can also processing be extended to the 4th region in first area, namely to except by first
The possible region of target outside BPS output value changes influence is extended processing.The 4th area in first area
When domain is extended processing, following methods can be specifically taken to realize：
Calculated according to current BPS output value changes moment and upper BPS output value changes moment, obtain the very first time
Difference；In BPS output valve transformation period differences with the corresponding relation of extension yardstick, obtaining what is matched with first time difference
Extend yardstick；According to extension yardstick, the 4th region is extended.
It should be noted that the basic principle of above-mentioned extended mode foundation is first time difference.First time difference is got over
Greatly, illustrate that the interval duration that BPS output valves change twice is bigger, interval duration is bigger, and the possibility moving region of target is just
It is bigger.So the numerical value of first time difference is bigger, extension yardstick is bigger.Method provided in an embodiment of the present invention can be previously stored
BPS output valve transformation period differences and the corresponding relation for extending yardstick., can be according to the flat of target when establishing the corresponding relation
Equal speed is established.For a time difference, average speed and the time of the extension yardstick corresponding to it for target
The product of difference.Certainly, the foundation of corresponding relation can be also carried out according to the average acceleration of target, the embodiment of the present invention is not made to this
It is specific to limit.When establishing of corresponding relation is carried out according to the average acceleration of target, for a time difference, it is corresponding
Extension yardstick be average acceleration and time difference square product.
A specific example carries out solving explanation in detail to above-mentioned expansion process below.
Referring to Fig. 8, the first BPS induction region is the region that black overstriking lines surround in fig. 8.Filled with " oblique line "
Region be target may region A, using " small rhombus " filling region for target possibility region B, with " lattice "
The region of filling be target may region C, using " horizontal line " filling region for target possibility region D, with " vertical line "
Exemplified by the region of filling is the possible region E of target, then carried out to second area (the possible region A of target) at diminution
, can also be for the 4th region (target possibility region B, the target possibility in first area while reason obtains three regions
The possible region D of region C, target, the possible region E of target) according to the progress region extension of above-mentioned extension rule.Ginseng
See Fig. 9, after extension, the possible region B of target is changed into a fusiformis region from a fusiformis region and added in the 4th region
One Delta Region；The possible region C of target is changed into a Delta Region from a Delta Region and adds a fusiformis region；Mesh
The possible region D of mark is changed into a Delta Region from a Delta Region and adds a fusiformis region；Target may region B
One Delta Region is changed into from a Delta Region and adds a fusiformis region.
, may institute by the target after extension of the first BPS induction region when the output valve of BPS next time changes
Exemplified by the B of region, then the possible region A of the last target after diminution is handled, last time are after extension process
The possible region D of the possible region C of target, the last target after extension process, last time pass through extension process
The possible region E of target afterwards need to be extended again according to above-mentioned extension rule.Referring to Figure 10, extension process is again passed by
Afterwards, the possible region A of target has increased a fusiformis region newly on the basis of region shown in Fig. 9；Target may region C
A fusiformis region and a Delta Region are increased newly on the basis of region shown in Fig. 9；The possible region D of target is in Fig. 9
A fusiformis region is increased on the basis of shown region newly；The possible region E of target is increased newly on the basis of region shown in Fig. 9
One fusiformis region and a Delta Region；The possible region E of target has increased one newly on the basis of region shown in Fig. 9
Fusiformis region and a Delta Region.
, may by the target after extension of the first BPS induction region when BPS output valve changes next time under
Exemplified by the C of region, then last target after treatment may region A, the last mesh after diminution is handled
The possible region D of the possible region B of mark, the last target after extension process, last time are after extension process
Target may region E need to be extended again according to above-mentioned extension rule.Referring to Figure 11, extension process is again passed by
Afterwards, the possible region A of target has increased three fusiformis regions and three Delta Regions newly on the basis of region shown in Figure 10；Mesh
The possible region B of mark has increased two fusiformis regions and a Delta Region newly on the basis of region shown in Figure 10；Target can
Can region D and target may region E be also similar on the basis of region shown in Figure 10 has increased at least one fusiformis newly
Region and at least one Delta Region.
Referring to Figure 14, the target that is now provided step 601 to step 602 with a specific example may region
Reduce and spread scenarios carry out that explanation is explained in detail.
In fig. 14, the output valve for having 3 BPS in 4 BPS of T0 moment is 1, and above-mentioned 3 BPS induction region can be divided into
Patch area 1, patch area 2, patch area 3, patch area 4, patch area 5, patch area 6 and patch area 7.Other one
There is no target in individual BPS induction region, so the output valve of the BPS is 0.After above-mentioned 4 BPS position relationship is learnt,
All patch area dendrogram as shown in Figure 7 can be established.And then the patch is traveled through according to 4 BPS of T0 moment output valve
Region dendrogram, all situations of the possible region of target can be obtained.
As shown in figure 14, it is 1 in T0 moment above-mentioned 3 BPS output valve, if then above-mentioned 7 patch areas are formed
In the presence of only having a target in induction region, then the overlapping region of the only possible induction region that 3 BPS be present of the target,
I.e. in patch area 3.If in the presence of having 2 targets in the induction region that above-mentioned 7 patch areas are formed, above-mentioned 2 mesh
Mark can be divided into a variety of situations in patch area.Such as when having a target respectively in patch area 2 and patch area 4,
The output valve that may be such that above-mentioned 3 BPS is 1；When having a target respectively in patch area 2 and patch area 7, can also make
The output valve for obtaining above-mentioned 3 BPS is 1.If in the presence of having 3 targets in the induction region that above-mentioned 7 patch areas are formed,
Above-mentioned 3 targets can also be divided into a variety of situations in patch area.Such as when patch area 1, patch area 5 and patch area
When having a target in domain 6 respectively, you can so that above-mentioned 3 BPS output valve is 1；When patch area 1, patch area 5 and mend
When having a target in fourth region 7 respectively, the output valve that also may be such that above-mentioned 3 BPS is 1.Traversal is according to above-mentioned 4 BPS's
The dendrogram arc of position relationship generation, all situations of the possible region of target as shown in figure 14 can be obtained.
At the T1 moment, T0 moment output valve is that 0 BPS output valve changes, and is 1 by 0 saltus step, namely at the T1 moment
Target in above-mentioned 7 patch areas be present and pass through the sense passed through arc FCA (black overstriking lines) and enter the BPS shown in Figure 14
Answer in region.Target Traversing specifically in patch area where which target BPS's passes through arc FCA, can be according under
Method is stated one by one to be judged.
As shown in figure 14, for only having the situation of a target (N=1) in above-mentioned 7 patch areas, the target is in T0
Carve and be located in patch area 3, for BPS as shown in figure 14 position relationship, a target at most may be such that 3 BPS
Output valve be 1, can not cause 4 BPS output valve be 1, so can not possibly only have a mesh in above-mentioned 7 patch areas
Mark.For there is the situation of a target (N=2) in above-mentioned 7 patch areas, above-mentioned 2 targets are at the T0 moment respectively positioned at benefit
In fourth region 2 and in patch area 4；At the T1 moment, the target in patch area 4 may pass through arc FCA and reach separately
One BPS induction region, if BPS to whether there is in target goal response it is sensitive enough if, namely when target is BPS's
Numerical value output can be carried out when on induction region border, then in T1 moment lockable targets on arc FCA is passed through, namely target can
Energy region is become to pass through arc FCA at the T1 moment by patch area 4；And target is when the T0 moment is to T1 in patch area 2
It is likely to be present at quarter in patch area 1, patch area 2, patch area 3, patch area 4, patch area 5 and patch area 6 and appoints
In one patch area.Different destination number situations is judged one by one according to the method described above, can be to the possible institute of target
Reduced in region and extension process.When changing BPS output valve, just perform once and above-mentioned judged
Journey, the destination number situation that some are unsatisfactory for binary system output sequence are filtered, after multiple BPS output valves change procedures
Afterwards, most possible destination number can be obtained and target may region.
603rd, according to the 3rd region and the 4th region, target is tracked, the 4th region is the secondth area in first area
Region beyond domain.
In embodiments of the present invention, can be according to above-mentioned steps 601 whenever detecting that multiple BPS include a BPS
The 3rd region and the 4th region are obtained with the method that step 602 is provided, the 3rd region and the 4th region that each is obtained
It is associated, the pursuit path of target can be obtained.By taking Fig. 8 to Figure 11 as an example, by above-mentioned 4 figures with same filling pattern
The possible region of target being filled is associated respectively, can obtain all target following tracks as shown in figure 15.
Dotted line area encompassed refers to the target region E that Fig. 8 is filled into Figure 11 with " vertical line " in Figure 15, and dotted line does not wrap
The region enclosed refers to the target region D that Fig. 8 is filled into Figure 11 with " horizontal line ".For every a kind of fill area in Figure 15
For domain, all refer at the time of target following initial time changes to current BPS output valves, the possibility of each target is deposited
In region, namely pursuit path of the target within this period.
It should be noted that because above-mentioned steps 601 to step 603 may place to target by patch area dendrogram
Region reduced and extended, and target is tracked with this, not only considerably reduces operand, also improve target with
Track precision, namely method provided in an embodiment of the present invention can realize the accurate tracking to target in the case where operand is relatively low.
Target following flow provided in an embodiment of the present invention can so far terminate.Further, changed in BPS output valves each time
Afterwards, to target may region reduced or during extension process, error inevitably be present.When error is constantly tired out
When meter reaches a peak point, obtained target following track can deviate the actual path of target far away.In order to avoid
The generation of the above situation, method provided in an embodiment of the present invention also include remove target the pursuit path of generation the step of, in detail
See below step 604.
604th, judge whether include in the 3rd region and the 4th region beyond the region of predetermined threshold value；If the 3rd region and
4th region includes the region beyond predetermined threshold value, then removes the generation pursuit path of target, target is carried out again with
Track.
Wherein, the type of predetermined threshold value can be radius, diameter or girth etc., class of the embodiment of the present invention to predetermined threshold value
Type limits without specific.When the type of predetermined threshold value is radius, its big I is 10 meters or 15 meters etc..Work as predetermined threshold value
Type when being diameter, its big I is 20 meters or 30 meters etc..Certainly the size of predetermined threshold value can also be in addition to above-mentioned numerical value
Other numerical value, the embodiment of the present invention equally limit the size of predetermined threshold value without specific.
When the 3rd region or the 4th region are included beyond the region of predetermined threshold value, illustrate the possibility region of target
It is very big.Target acquistion, interception or attack etc. may be carried out in region in the wider target of the covering scope,
Through considerably taking time and effort, the meaning of target following has been lost, so the generation pursuit path of target is now removed, and
Above-mentioned steps 601 to the method shown in step 603 is taken to be tracked again to target.
Method provided in an embodiment of the present invention, in object tracking process, position relationship based on each BPS and multiple
BPS output valve, the first area of target to be tracked is determined, afterwards, whenever detecting that multiple BPS include a BPS,
The second area then reduced according to the first BPS induction region in first area, obtains the 3rd region, not only reduces positioning mesh
The operand of target position, and the position of target more accurately position, and then according to the 3rd area
Domain and the 4th region are tracked to target, can obtain more accurate pursuit path, target following rate of precision is high, tracking effect
Preferably.
Figure 16 is a kind of structural representation of target tracker based on sensor network provided in an embodiment of the present invention.
Referring to Figure 16, the device includes：Area determination module 1601, area reduction module 1602, target tracking module 1603.
Wherein, area determination module 1601, for the output valve according to multiple BPS and multiple BPS position relationship, it is determined that
The first area of target to be tracked, a patch area is comprised at least in first area, and patch area is BPS induction regions
Subregion, and the non-overlapping part of any two patch area；Area reduction module 1602 is connected with area determination module 1601, is used
In when detect multiple BPS include the first BPS and the first BPS output valve from the first numerical value change be second value when, root
According to the first BPS induction region, the second area reduced in first area, the 3rd region is obtained, the first BPS is current output valve
The BPS to change, second area are the BPS induction regions influenceed by the first BPS outputs value changes；Target tracking module
1603 are connected with area reduction module 1602, for according to the 3rd region and the 4th region, being tracked to target, the 4th region
For the region beyond second area in first area.
Alternatively, area reduction module, detect that multiple BPS include the first BPS and the first BPS output valve for working as
When from the first numerical value change being second value, according to the first BPS induction region, determine with the first BPS to sense in second area
The overlapping region in region；From second area, the patch area included by overlapping region is removed, obtains the 3rd region.
Alternatively, area reduction module, it is additionally operable to detect that multiple BPS include the first BPS and the first BPS output
Value from second value become turn to the first numerical value when, according to the first BPS induction region and second area, obtain the 5th region.
Alternatively, the device also includes：
Time difference computing module, for exporting value changes moment and upper BPS output value changes moment according to current BPS
Calculated, obtain first time difference；
Yardstick acquisition module is extended, in corresponding relation of the BPS output valve transformation period differences with extending yardstick, obtaining
Take the extension yardstick to match with first time difference；
Region expansion module, for according to extension yardstick, being extended to the 4th region.
Alternatively, the device also includes：
Region decision module, for judging whether include in the 3rd region and the 4th region beyond the region of predetermined threshold value；
Module is removed in track, for when the 3rd region and the 4th region are included beyond the region of predetermined threshold value, removing
The generation pursuit path of target, is tracked to target again.
Device provided in an embodiment of the present invention, in object tracking process, position relationship based on each BPS and multiple
BPS output valve, the first area of target to be tracked is determined, afterwards, whenever detecting that multiple BPS include a BPS,
The second area then reduced according to the first BPS induction region in first area, obtains the 3rd region, to the position of target
More accurately position, and then target has been tracked according to the 3rd region and the 4th region, can obtain more accurate
Pursuit path, target following rate of precision is high, and tracking effect is preferable.
It should be noted that：Above-described embodiment provide based on the target tracker of sensor network carry out target with
, can be as needed and by above-mentioned function only with the division progress of above-mentioned each functional module for example, in practical application during track
Distribution is completed by different functional modules, i.e., the internal structure of equipment is divided into different functional modules, to complete to retouch above
The all or part of function of stating.In addition, above-described embodiment provide based on the target tracker of sensor network with being based on
The method for tracking target embodiment of sensor network belongs to same design, and its specific implementation process refers to embodiment of the method, here
Repeat no more.
One of ordinary skill in the art will appreciate that hardware can be passed through by realizing all or part of step of above-described embodiment
To complete, by program the hardware of correlation can also be instructed to complete, described program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only storage, disk or CD etc..
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
1. a kind of method for tracking target based on sensor network, it is characterised in that methods described includes：
According to multiple binary system proximity transducer BPS output valve and the multiple BPS position relationship, mesh to be tracked is determined
Target first area, a patch area is comprised at least in the first area, and the patch area is the son of BPS induction regions
Region, and the non-overlapping part of any two patch area；
When detect the multiple BPS include the first BPS and the first BPS output valve from the first numerical value change be second
During numerical value, according to the induction region of the first BPS, the second area reduced in the first area, the 3rd region, institute are obtained
It is the BPS that current output valve changes to state the first BPS, and the second area is to be exported value changes shadow by the first BPS
Loud BPS induction regions；
According to the 3rd region and the 4th region, the target is tracked, the 4th region is the first area
Described in region beyond second area.
2. according to the method for claim 1, it is characterised in that described to detect that the multiple BPS includes the first BPS
And the output valve of the first BPS from the first numerical value change be second value when, according to the induction region of the first BPS, contracting
Second area in the small first area, the 3rd region is obtained, including：
When detecting that the multiple BPS includes the first BPS and the first BPS output valve and become from first numerical value
When turning to the second value, according to the induction region of the first BPS, determine in the second area with the first BPS
The overlapping region of induction region；
From the second area, the patch area included by the overlapping region is removed, obtains the 3rd region.
3. according to the method for claim 1, it is characterised in that methods described also includes：
When detecting that the multiple BPS includes the first BPS and the first BPS output valve and become from the second value
When turning to first numerical value, according to the induction region of the first BPS and the second area, the 5th region is obtained.
4. according to the method for claim 1, it is characterised in that methods described also includes：
Calculated according to the current BPS output value changes moment with the upper BPS output value changes moment, obtain the very first time
Difference；
In BPS output valve transformation period differences with the corresponding relation of extension yardstick, obtaining and the first time difference phase
The extension yardstick matched somebody with somebody；
According to the extension yardstick, the 4th region is extended.
5. the method according to any claim in Claims 1-4, it is characterised in that described described more when detecting
Individual BPS include the first BPS and the first BPS output valve from the first numerical value change be second value when, according to described
One BPS induction region, the second area reduced in the first area, after obtaining the 3rd region, methods described also includes：
Judge whether include in the 3rd region and the 4th region beyond the region of predetermined threshold value；
If the 3rd region and the 4th region include beyond the region of predetermined threshold value, removing the generation of the target
Pursuit path, the target is tracked again.
6. a kind of target tracker based on sensor network, it is characterised in that described device includes：
Area determination module, closed for the output valve according to multiple binary system proximity transducer BPS and the multiple BPS position
System, determine the first area of target to be tracked, a patch area, the patch area to be comprised at least in the first area
For the subregion of BPS induction regions, and the non-overlapping part of any two patch area；
Area reduction module, for when detect the multiple BPS include the first BPS and the first BPS output valve from
When first numerical value change is second value, according to the induction region of the first BPS, the secondth area reduced in the first area
Domain, obtains the 3rd region, and the first BPS is the BPS that current output valve changes, and the second area is by described the
The BPS induction regions that one BPS output value changes influence；
Target tracking module, for according to the 3rd region and the 4th region, being tracked to the target, the 4th area
Domain is the region beyond second area described in the first area.
7. device according to claim 6, it is characterised in that the area reduction module, for described more when detecting
Individual BPS include the first BPS and the first BPS output valve from first numerical value change be the second value
When, according to the induction region of the first BPS, determine the overlay region with the first BPS induction regions in the second area
Domain；From the second area, the patch area included by the overlapping region is removed, obtains the 3rd region.
8. device according to claim 6, it is characterised in that the area reduction module, be additionally operable to described when detecting
Multiple BPS include the first BPS and the output valve of the first BPS turns to first numerical value from second value change
When, according to the induction region of the first BPS and the second area, obtain the 5th region.
9. device according to claim 6, it is characterised in that described device also includes：
Time difference computing module, for exporting the value changes moment with a upper BPS according to the current BPS output value changes moment
Calculated, obtain first time difference；
Extend yardstick acquisition module, for BPS output valve transformation period differences with extension yardstick corresponding relation in, obtain with
The extension yardstick that the first time difference matches；
Region expansion module, for according to the extension yardstick, being extended to the 4th region.
10. the device according to any claim in claim 6 to 9, it is characterised in that described device also includes：
Region decision module, for judging whether include in the 3rd region and the 4th region beyond the region of predetermined threshold value；
Module is removed in track, for when the 3rd region and the 4th region are included beyond the region of predetermined threshold value, removing
The generation pursuit path of the target, is tracked to the target again.
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101888671A (en) * | 2010-02-10 | 2010-11-17 | 上海交通大学 | Energy-efficient target tracking method |
| CA2834916A1 (en) * | 2011-05-04 | 2012-11-08 | Jacques Georgy | Two-stage filtering based method for multiple target tracking |
| CN102830402A (en) * | 2012-09-10 | 2012-12-19 | 江苏科技大学 | Target tracking system and method for underwater sensor network |
| CN103679687A (en) * | 2012-09-18 | 2014-03-26 | 杭州海康威视数字技术股份有限公司 | Target tracking method of intelligent tracking high-speed dome camera |
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| JP3461143B2 (en) * | 1999-05-27 | 2003-10-27 | 日本電気株式会社 | Color image target position detection device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101888671A (en) * | 2010-02-10 | 2010-11-17 | 上海交通大学 | Energy-efficient target tracking method |
| CA2834916A1 (en) * | 2011-05-04 | 2012-11-08 | Jacques Georgy | Two-stage filtering based method for multiple target tracking |
| CN102830402A (en) * | 2012-09-10 | 2012-12-19 | 江苏科技大学 | Target tracking system and method for underwater sensor network |
| CN103679687A (en) * | 2012-09-18 | 2014-03-26 | 杭州海康威视数字技术股份有限公司 | Target tracking method of intelligent tracking high-speed dome camera |
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