Real-time tracking method of underground moving target based on weighted centroid positioning

In order to ensure the personal safety of underground operators，a real-time tracking method of underground moving target based on weighted centroid positioning of wireless sensor network is proposed. The location and number of sensors in the mine is determined，and communication with neighbor nodes is established；The node closest to the target is selected to form a positioning edge. The weighted centroid positioning algorithm is used to give the node weight. The concept of virtual node is introduced to calculate the virtual node position and estimate the specific location of the moving target. The autonomous decision− making approach is adopted to determine the node transition states, and a tracking process is established based on the states to achieve real−time tracking of the target.. The results show that the tracking loss rate of the proposed method is always less than 0.02%，the error is small，and the tracking efficiency is high. © 2023 Editorial Board of Jilin University. All rights reserved.