Evolutionary Tracking Algorithm Based on Combined Received Signal Strength and Angle of Arrival Measurements in Wireless Sensor Networks

This article addresses the target tracking problem based on the received signal strength (RSS) and angle of arrival (AOA) in wireless sensor networks (WSNs). The tracking problem is formulated in the framework of the maximum a posteriori (MAP), in which the prior knowledge of moving target nodes (TNs) is exploited. Due to the fact that the cost function of the tracking problem is highly nonlinear and nonconvex, most of the existing algorithms tend to approximate and relax the cost function. As a result, the tracking accuracy is usually compromised. In this article, we propose a tracking algorithm based on evolutionary techniques that do not require an approximation of the cost function, resulting in a considerable improvement in tracking accuracy. The proposed tracking algorithm is compared with state-of-the-art algorithms such as the MAP, particle filter (PF), and Kalman filter (KF). Simulation and real experiment results demonstrate that the proposed tracking algorithm provides an improvement roughly by 16%, 11%, and 18% over the MAP, PF, and KF, respectively, in the tracking accuracy.