WSN Target Tracking Algorithms Using UP, UPF, and CRPF Approaches

The target tracking process in Wireless Sensor Networks (WSN) employs UP, UPF, and CRPF algorithms in a sequential framework. Initially, the Unscented Particle (UP) algorithm generates initial target position estimates using sigma points to capture the nonlinear system characteristics. Subsequently, the Unscented Particle Filter (UPF) performs trajectory prediction and state updates through importance sampling and unscented transformations, effectively handling non-Gaussian noise distributions. Finally, the Cost Reference Particle Filter (CRPF) optimizes target estimation by minimizing a predefined cost function rather than relying on probabilistic assumptions, making it robust in uncertain environments. This multi-stage approach achieves computational efficiency and high tracking accuracy, making it suitable for various WSN target monitoring applications. Key implementation aspects include particle weight calculation, resampling techniques, and adaptive state transition models to handle dynamic target movements.