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Improving tracking quality and extending network lifespan are two main objects for target tracking, which are usually contradictory due to limited energy of sensor nodes in wireless sensor networks. This article incorporates this contradiction into a problem of multi-objective optimization in tracking networks where multiple sensor nodes are scheduled for collaborative target tracking by adopting the unscented Kalman filter algorithm. We propose an effective scheme to extend the lifespan of wireless sensor networks while guaranteeing preset tracking quality. More specifically, with regard to practical circumstances, we perform analysis on the target detection probability, as well as residual energy of sensor nodes, when selecting a suitable set of candidate sensor nodes. Then, we put forward a novel energy-balanced sensor nodes scheduling algorithm, Greedy Balance Replace Heuristic Algorithm, to select a near-optimal task sensor set from the candidate sensor node set to balance tracking quality and network lifetime. In addition, we also design an efficient multi-sensor node collaborative method to track a single target and to timely report its state to the remote end. From simulation results, it is demonstrated that the proposed node scheduling scheme can not only maintain the preset tracking accuracy but also extend network lifespan with a low computation complexity.

An energy-balanced multi-sensor scheduling scheme for collaborative target tracking in wireless sensor networks