Underwater Target Tracking Algorithm for Underwater Acoustic Sensor Networks under DoS Attack
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摘要: 考虑水下拒绝服务(DoS)攻击和声线分层效应的影响, 研究了基于水声传感器网络的目标追踪问题。首先考虑由水下传感器、水面浮标和水下目标组成的传感器网络架构。基于此, 构造了水下目标运动模型和水下拒绝服务攻击模型, 提出了一种改进的一致性无迹卡尔曼滤波水下目标追踪算法。进一步, 证明了追踪算法的收敛性, 推导了算法的克拉美罗下界。仿真和实验结果表明, 文中算法可以在水下环境有效进行目标追踪。Abstract: Considering the effect of underwater denial of service(DoS) attack and sound line stratification, the problem of target tracking based on underwater acoustic sensor network is studied in this paper. Firstly, consider a sensor networks architecture consisting of underwater sensors, surface buoys, and underwater targets. Then, the underwater target movement model and the underwater denial of service attack model are constructed, and an improved consensus-based Kalman filter underwater target tracking algorithm is proposed. Finally, the CRLB of the algorithm is derived and the effectiveness of the algorithm is proved. Simulation and experiments show that the proposed algorithm can track the target effectively, and the algorithm based on consistent unscented Kalman filtering improves tracking accuracy.
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图 4 基于一致性UKF的 水下目标追踪算法
Figure 4. Underwater target tracking algorithm based on consistent UKF
表 1 文中方法与已有研究的对比
Table 1. Comparison of the proposed method and the other existing literatures’
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表 2 参数列表
Table 2. Parameters of Simulation
名称 参数 $ {x_0} $ [0 65 −50 5 5 0] s/m3 200×200×100 $ \lambda $ {1,0,1,1,1,0,0,0,1,0,1,0} f/Hz 21 000~27 000 v/(bit/s) 300 $ {k^*} $/s 90
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