Target Tracking for Wireless Localization Systems With Degraded Measurements and Quantization Effects

In this paper, the target tracking problem is investigated for a class of wireless localization systems with degraded measurements and quantization effects. The measurement degradations induced by unreliable channels are characterized by a random parameter matrix, and the quantization effects are modeled by sector-bounded uncertainties. A recursive filtering algorithm is proposed in order to track the plant states as accurately as possible. An upper bound on the filtering error covariance is first derived and such an upper bound is then minimized by properly designing the filter gain at each sampling instant. The desired filter parameters are obtained by solving two sets of Riccati-like difference equations that are in a recursive form suitable for online application. Finally, a simulation experiment is carried out for the scenario of personnel localization/tracking problems in a mine industrial site and the effectiveness of the proposed filter method is demonstrated.