为解决无线传感器网络中单一跟踪算法和测量技术不能获得运动目标高精度定位的问题，提出了一种将跟踪算法同时与不同测量技术相结合的混合式跟踪定位技术.通过对基于扩展卡尔曼滤波跟踪算法的分析，将基于UWB测量技术得到的距离测量值和基于ZigBee测量技术得到的接收信号强度测量值相融合，结合扩展卡尔曼滤波跟踪算法，得到一种对室内运动目标的混合式跟踪定位方法.实验表明，该混合定位方法能有效提高运动目标的定位精度.
In wireless sensor networks, either single tracking algorithm or single measurement technique cannot obtain high positioning accuracy for moving target tracking. To solve the problem, a hybrid localization technology composed of a tracking algorithm and different measuring techniques is proposed. The tracking algorithm based on the principle of extended Kalman filter is analyzed. By combining the distance values measured by ultra band width (UWB) technology and the receiving signal strength measured by ZigBee measuring technology, and applying them into the tracking algorithm based on extended Kalman filter, we achieve an approach of hybrid position tracking for moving objects in indoor environments. Experiment for indoor moving objects shows that the proposed position-tracking approach performs high localization accuracy.
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