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CooperativeDesignofWirelessSensorNetworkTargetTrackingSystem:ATheoreticalStudyandApplicationsDissertationSubmittedtoTsinghuaUniversityinpartialfulfillmentoftherequirementforthedegreeofDoctorofSciencebyWangYongcai(ControlScienceandEngineering)DissertationSupervisor:ProfessorZhengDazhongDecember,2006123MarkovMica2Mica22m1mIAbstractAbstractTargettrackingisamongthemostattractiveapplicationsofthewirelesssensornetworks(WSN),whichispromisinginmanymilitaryandcivilareas.Cooperationdesignproblemofthetrackingsystemisaproblemtoexploitthelimitedresourcesonthewirelesssensornodestooptimizethesystemperformances.ThisdissertationfocusesonthecooperativedesignproblemofWSNtrackingsystem.Somefunda-mentalandpracticalissuesarestudied.Themaincontentsofthisdissertationcanbesummarizedasfollows:Firstly,exploitingthatonlythesensorsinthevicinityofthetargetcancontributetothetargettracking,acluster-basedself-organizationmethodisproposed.Theun-derlyingrelationshipbetweentheclusterparametersandenergy-qualityperformancesofthetrackingsystemsisderivedandisusedtoguidetheclusterdesign.Tosolvetheenergyfast-depletionproblemoftheclusterheads,anenergyfirstclusterheadrotationstrategyisproposedtomanagethenodesinthecluster,whichisprovedtobeoptimalinthemeansoftheclusterlifetime.Secondly,focusingonthepacketlossproblemofmulti-hopforwarding,areceivercontention-basedgreedyforwardingprotocol(RCGF)isproposedbasedontheclusterorganization.Ineveryhop,therelaynodeisdeterminedaccordingtotherealtimechan-neldynamics,whichiselectedamongtheactualreceiversbasedonthecompetitionoftheirlocationinformation,sothattheenergyefficiencyiskeptforthesinglepathandthereliabilityisalsoreserved.Themulti-hopreliabilityisanalyzedwithMarkovChainmodel.Ifpositioninformationofsensorsisknown,theformulaofthemeanmulti-hopreliabilityisderived;theupperboundandthelowerboundofmulti-hopreliabilityarederivedwhenpositionsareunknown.TheRCGFprotocolisimplementedinMica2system.Themeasuredreliabilityperformancevalidatestheanalyticalresults.Thirdly,cooperativedesignofdetection,dataprocessingandmulti-hopcommu-nicationisproposed.AdynamicclusterisformedwhenatargetissimultaneouslyIIAbstractdetectedbyasetofsensors.Thesensorwiththestrongestreceivedsignaliselectedasthedynamicclusterhead.Itprocessesthelocaldataandpackstheresultsastheforwardingtask,whichisforwardedtothestaticclusterheadwiththeproposedRCGFprotocol.Atnodelevel,detectionqueueandforwardingqueueareusedtoschedulethenoderesources.Theperformancesofthecooperativedesignedprotocolareanalyzedwithqueueingmethod.Theresultsshowthatthecooperativedesignedprotocolismuchbetterthantheuncooperativeprotocolsinthecriteriaoftheenergyefficiencyandnodeworkload.Sothecooperativedesignisultimatelyformedbythedynamiccluster-baseddetection,staticclusterorganizationandreceivercontention-basedmulti-hopforward-ing.ThecooperativeprotocolisimplementedinMica2system.Atlast,theproposedtheoryandmethodsareimplementedandverifiedinavehicletrackingsystemandinanindoorpersontrackingsystem.Withtheaidsoflocationandtrackingalgorithms,accuraciesoflessthan2metersandlessthan1meterareachievedrespectivelybythesetwosystems.Theperformancesofenergyconsumptionandtrackingdelayalsovalidatetheproposedresults.Keywords:wirelesssensornetwork;targettrackingsystem;clusterorganization;contention-basedforwarding;cooperativedesignIII1...............................................11.1WSN..........................11.2.......................51.3.................................91.3.1..............................91.3.2...............................111.3.3...................131.3.4........................141.4............................................152................................182.1......................182.1.1..................................182.1.2.........................................202.2...........................212.2.1........................212.2.1.1................................212.2.1.2..................................222.2.2..............242.2.2.1....................242.2.2.2................................252.2.2.3Pareto............................292.3.....................................312.3.1“”.....................312.3.2.............................332.3.3........................352.3.4...........................36IV2.3.5..........................382.4..............................402.4.1..........................402.4.2..........................412.4.3...........................432.4.3.1................................432.4.3.2(SSLL)..................442.4.3.3.............................452.5............................................473................................483.1...............................................483.2:RCGF.............................493.3RCGF.............................523.4..........................................543.4.1..........................553.4.1.1.............................553.4.1.2.............................563.4.2....................573.4.2.1.............................583.4.2.2.............................593.4.2.3.............................