CN108152790A - A kind of non-cooperation multi-target traces projectional technique based on distributed structure/architecture - Google Patents
A kind of non-cooperation multi-target traces projectional technique based on distributed structure/architecture Download PDFInfo
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- CN108152790A CN108152790A CN201810009756.0A CN201810009756A CN108152790A CN 108152790 A CN108152790 A CN 108152790A CN 201810009756 A CN201810009756 A CN 201810009756A CN 108152790 A CN108152790 A CN 108152790A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
Abstract
The invention discloses a kind of non-cooperation multi-target traces projectional techniques based on distributed structure/architecture, and multiple target location-estimation algorithm is approached including the dynamic information source scheduling strategy in multiple target tracking and distributed two layers of particles.The infrastructure of information collection in the active active probe framework of interactive mode for moving static mixing is as tracking system, the multiple independent sensors of random placement is only needed to provide distance measuring information for it, without disposing other location informations such as sensor array additional angle, it is simple in structure, it is easy to use；More certainty informations based on dynamic information source scheduling strategy for algorithm can be provided, and then simplify algorithm complexity and improve Multi-target position precision；The strategy for waking up and sleeping in the distributed structure/architecture and algorithm of the use of proposition can effectively extend the life cycle of wireless location system, have good economic and social benefit.It the composite can be widely applied to the noncooperative targets such as intrusion detection and the formation target tracking under underwater or aerial scene tracking field.
Description
Technical field
The present invention relates to locating and tracking technology, especially a kind of three-dimensional based on wireless communication technique and multisensor platform
Non- cooperative Multi-target position tracking.
Background technology
Non- cooperative Multitarget Tracking based on wireless communication is because that can meet such as territory early warning, marine surveillance, aerial
The several scenes such as traffic control and application under primary demand and studied extensively by related technical personnel.Noncooperative positioning method
Towards object often cannot be with the heterogeneous target of base station communication.The characteristic of this target so that position fixing process is more complicated,
Its positioning method is not to be positioned by the information transmission between node, but by analyze the state of multigroup close echo come
Estimate the location information of unknown object.
There is the deficiency of some aspect in existing multi-object tracking method.Centralized architecture is computationally intensive first causes
Real time problems.Existing algorithm is mostly using the positioning strategy of centralization, and the processing procedure of all metric data is only by some
Node is completed, and result of which does not simply fail to ensure the real-time of data processing, and also results in energy consumption in network
Life cycle that is unequal and shortening total system.Secondly the development that polarises is presented in existing algorithm, and the high algorithm of complexity calculates
Measure it is excessive, and complexity it is low algorithm accuracy it is not high.This is because the certainty information provided in existing method is limited, such as mesh
The mark information such as number, the initial position of multiple target are required for algorithm to estimate it.Algorithm structure complicated in this way is often
Bring very big calculation amount.And it simply carries out estimating to lack accuracy using threshold method.In addition to measuring in conventional method
The type of information often has strict requirements, this just needs to provide corresponding hardware platform support, the infrastructure frame of restriction
Structure reduces the pervasive degree of algorithm.
Invention content
Present invention aims at provide it is a kind of improve Multi-target position data correlation accuracy rate based on distributed structure/architecture
Non- cooperation multi-target traces projectional technique.
To achieve the above object, following technical scheme is employed：It is more in monitoring region the invention mainly comprises being distributed in
The identical communication node of a hardware configuration；Overall network framework is changed to reach by the different role of artificially defined communication node
Purpose, communication node is divided into control centre's node, static host node, dynamic host node and ordinary node, static host node and
Dynamic host node belongs to fusion center grade, and ordinary node belongs to sensor-level；
The method includes two parts of dynamic information source scheduling strategy and position tracking algorithm；
Dynamic information source scheduling strategy be each one servo tracking system of Target Assignment therein, the servo system of multiple targets
In system using different communication frequency and independently of each other, it positions the purpose is to completing Multi-target position to single goal converted
Journey；Servo tracking system refers to be made of, aim at multiple sensors the part of the simple target configuration of some physical distribution independence
Alignment system, servo-drive system include a dynamic host node and the ordinary node of several matched positioning；
Monitoring system is divided into basic information collection layer from low to high, position determines layer and decision dispatch layer；Basic information
It is worked in coordination in acquisition layer by node and obtains necessary distance measuring information；Position is determined in layer in basic information collection layer
To the distance measuring of target as foundation, with history flight path as reference, with multi-targets recognition algorithm, reality is provided for decision-making level
When accurate multiple targets motion state；Decision dispatch layer predicts the movement of multiple targets using the location information that lower floor provides
Behavior, and reference prediction information is by controlling the suspend mode or wake-up of reference mode carrys out nearest several of distance to a declared goal predicted position
Node is respectively as dynamic host node and corresponding ordinary node.
Further, dynamic information source scheduling is divided into following steps：
In the initialization information preparation stage, each reference mode estimates the coordinate bit of itself using the method for cooperative positioning
It puts；All reference modes will build the static vector table of filtering environmental false-alarm whithin a period of time；In the selection of decision dispatch layer
One node in heart district domain is as static host node for the newborn target of monitoring in real time；
Step 1, initial phase static state host node records environment original state, static vector by emitting and receiving signal
Table is used to store original state, and the filtering environmental noise in position fixing process；
Step 2, static host node by periodically constantly transmitting signal monitoring whole region, and with lower floor provide away from
From measuring as reference, with reference to static environment vector table and the amount of dynamic environment vector table filtering environmental background and known target
Measurement information interferes, and emerging unknown object in real-time perception region is added into dynamic vector table and provides reality for decision-making level
When reliable newborn target active position information；The location information for each having tracked target is recorded in dynamic vector table；
Step 3, control centre is after identified coordinates of targets is received, four reference modes near specified coordinate after
Continuous to complete to work to the track and localization of target, one of them is appointed as dynamic host node, and others are appointed as occupied common
Node；
Step 4, dynamic node each period is required for uploading to the decision where control centre to the location estimation of target
Dispatch layer, and by decision dispatch layer according to the movement tendency and coordinate position of target decide whether again for its distribute one group it is new
Reference mode.
Further, in non-chaotic area, multi-objective problem is reduced to single-objective problem by dynamic information source scheduling strategy, profit
The location estimation for obtaining target is filtered with sequential Monte Carlo.
Further, Multi-target position procedure decomposition is chaotic region and non-chaotic region by dynamic information source scheduling strategy
Processing procedure, wherein the positioning in non-chaotic region is reduced to single goal positioning；Non-chaotic region is that the algorithm in chaotic region carries
The certainty status information of target numbers and each target status information during for into chaotic region, and then increase in chaotic region
The accuracy rate of data correlation process simultaneously reduces algorithm complexity；The chaotic region refers to that multiple targets are in a dynamic and save
Within the covered region of point, and can not be respectively that the region of tracking system is configured in it；
It is multiple that position tracking algorithm approaches multi-object tracking method acquisition in chaotic region using the two layers of particles of proposition
The final position of target, particular content are as follows：
Step 1, control centre's node completes the transmission of last moment dbjective state while specified dynamic host node,
Include the number of target and the status information of multiple targets, dynamic host node passes through the same of acoustic location at the positioning moment
When, send the number of last moment target and the status information of multiple targets to the ordinary node of activation；
Step 2, after each ordinary node obtains initial position and the status information of multiple targets, with the phase Tongfang of step 1
Method estimates the measurement ownership of each target；It is the component in three reference axis by target Kinematic Decomposition, and according to state transfer side
The location estimation of journey and Monte Carlo filter prediction multiple particles subsequent time；
Step 3, location estimation obtains the corresponding distance of multiple particles as input quantity by the distance measuring model of foundation
Estimation；
Step 4, with the distance estimations of multiple particles as reference, multiple distance measurings are assessed with Gaussian distribution model
Matching degree；Its result is by without normalized weight and determining in the corresponding all particles of multiple distance estimations；Power
The maximum distance measuring of the sum of weight is considered that measurement of the target at this moment belongs to；One is established between target and corresponding measurement
Item, which is mutually related, belongs to chain；
Step 5, step 2-4 are repeated, obtain the measurement ownership chain of all targets；
Step 6, corresponding ownership chain is fed back to dynamic host node by each node, and host node utilizes recurrence model and particle
Pairs of this moment multiple dbjective states are filtered to be estimated；
Step 7, step 1-6 are repeated, until multiple targets leave chaotic region.
Further, the static system centered on static node for finding unknown object in real time, with dynamic host node
Centered on dynamical system be used to tracking and estimating the states of multiple targets.
Further, the corresponding reference mode of static host node is constant in monitoring process, and a monitoring region is only
There are a static host nodes；Dynamic host node maintenance data association algorithm and optimal estimation algorithm, realize and have been identified to multiple
Real-time tracking and the flight path joint of target.
Further, dynamic host node is specified in real time after predicting the motion state of identified target by decision dispatch layer
, dynamic host node number present in a region is less than or equal to identified unknown object number.
Compared with prior art, the invention has the advantages that：Using proposition dynamic information source scheduling strategy and position with
The tracking of multiple target is reduced to monotrack process by track algorithm, reduce because multiple targets interfere with each other and environment in not
The complication of algorithm structure caused by certainty and the incidence of associated errors, it is more accurate than existing method to realize,
The better Multi-target position of real-time.
Description of the drawings
Fig. 1 is the information source scheduling strategy Organization Chart of the method for the present invention.
Fig. 2 is that the distributed two layers of particles of the method for the present invention approaches figure.
Fig. 3 is the multiple-target system member framework of the method for the present invention and tracking schematic diagram.
Specific embodiment
The present invention will be further described below in conjunction with the accompanying drawings：
The invention mainly comprises communication node, multiple communication node and at least one buoys comprising hydrophone and energy converter
Node forms monitoring system；Buoy node is the bridge linked up between external network and subsurface communication network as the role of gateway
Beam；As shown in figure 3, communication node is divided into control centre's node, static host node, dynamic host node and ordinary node, static state master
Node and dynamic host node belong to fusion center grade, and ordinary node belongs to sensor-level；Static system centered on static node
For system for finding unknown object in real time, the dynamical system centered on dynamic host node is used to track and estimate the shape of multiple targets
State.The corresponding reference mode of static host node be in monitoring process it is constant, a monitoring region only exist one it is static main
Node；Dynamic host node maintenance data association algorithm and optimal estimation algorithm are realized to multiple real-time trackings for having identified target
And flight path joint.Dynamic host node is specified in real time after predicting the motion state of identified target by decision dispatch layer, one
Dynamic host node number present in a region is less than or equal to identified unknown object number.
All constitution elements therein are served only for the signal of true environment, do not represent real distribution density and distribution number
Amount.Next combine tracking schematic diagram, using the position fixing process of two targets as example, in description invention the multiple target that proposes with
The workflow of track algorithm.
The method includes two parts of dynamic information source scheduling strategy and position tracking algorithm；
Dynamic information source scheduling strategy be each one servo tracking system of Target Assignment therein, the servo system of multiple targets
In system using different communication frequency and independently of each other, it positions the purpose is to completing Multi-target position to single goal converted
Journey；Servo tracking system refers to be made of, aim at multiple sensors the part of the simple target configuration of some physical distribution independence
Alignment system, servo-drive system include a dynamic host node and the ordinary node of several matched positioning；
The scheduling of dynamic information source is divided into following steps：
In the initialization information preparation stage, each reference mode is by the use of the method that cooperative positions using buoy node as matchmaker
It is situated between, estimates the coordinate position of itself；All reference modes will monitor returning for transmitting signal using hydrophone whithin a period of time
Wave builds the static vector table of filtering environmental false-alarm for it；Decision dispatch layer where buoy node selects one of central area
Node is as static host node for the newborn target of monitoring in real time；
Step 1, initial phase static state host node records environment original state, static vector by emitting and receiving signal
Table is used to store original state, and the filtering environmental noise in position fixing process；
Step 2, static host node by periodically constantly transmitting signal monitoring whole region, and with lower floor provide away from
From measuring as reference, with reference to static environment vector table and the amount of dynamic environment vector table filtering environmental background and known target
Measurement information interferes, and emerging unknown object in real-time perception region is added into dynamic vector table and provides reality for decision-making level
When reliable newborn target active position information；The location information for each having tracked target is recorded in dynamic vector table；
Step 3, control centre is after identified coordinates of targets is received, four reference modes near specified coordinate after
Continuous to complete to work to the track and localization of target, one of them is appointed as dynamic host node, and others are appointed as occupied common
Node；
Step 4, dynamic node each period is required for uploading to the decision where control centre to the location estimation of target
Dispatch layer, and by decision dispatch layer according to the movement tendency and coordinate position of target decide whether again for its distribute one group it is new
Reference mode.
Multiple targets are during regional movement, if difference is very big on geographical location, then and it is unaffected mutually, but
If it enters in the range of same dynamic node covers, i.e., in chaotic region, it is necessary to be approached with two layers of particles more
Method for tracking target determines the ownership of measured value.
In non-chaotic area, multi-objective problem is reduced to single-objective problem by dynamic information source scheduling strategy, in chaotic region,
The location estimation for obtaining target is filtered using sequential Monte Carlo.
As shown in figure 3, multiple targets are located at same region in sphere, therefore when two targets enter this region
It needs to position two targets by algorithm.
As shown in Figure 1, monitoring system is divided into basic information collection layer from low to high, position determines layer and decision is dispatched
Layer；It is worked in coordination in basic information collection layer by node and obtains necessary distance measuring information；Position is determined in layer with basis
With history flight path as reference, with multi-targets recognition algorithm, it is as foundation to the distance measuring of target in information collection layer
Decision-making level provides in real time the accurately motion state of multiple targets；Decision dispatch layer is more using the location information prediction that lower floor provides
The motor behavior of a target, and reference prediction information carrys out distance to a declared goal prediction bits by controlling the suspend mode or wake-up of reference mode
Nearest several nodes are put respectively as dynamic host node and corresponding ordinary node.
Dynamic information source scheduling strategy by processing procedure of the Multi-target position procedure decomposition for chaotic region and non-chaotic region,
The positioning in wherein non-chaotic region is reduced to single goal positioning；Non-chaotic region is provided for the algorithm in chaotic region into chaos
The certainty status information of target numbers and each target status information during area, and then increase data correlation mistake in chaotic region
The accuracy rate of journey simultaneously reduces algorithm complexity；The chaotic region refers to that multiple targets are in what a dynamic node was covered
Within region, and can not be respectively that the region of tracking system is configured in it；
It is multiple that position tracking algorithm approaches multi-object tracking method acquisition in chaotic region using the two layers of particles of proposition
The final position of target, particular content are as follows：
Step 1, control centre's node completes the transmission of last moment dbjective state while specified dynamic host node,
Include the number of target and the status information of multiple targets, dynamic host node passes through the same of acoustic location at the positioning moment
When, send the number of last moment target and the status information of multiple targets, idiographic flow such as Fig. 2 to the ordinary node of activation
It is shown；
Step 2, after each ordinary node obtains initial position and the status information of multiple targets, with the phase Tongfang of step 1
Method estimates the measurement ownership of each target；It is the component in three reference axis by target Kinematic Decomposition, and according to state transfer side
The location estimation of journey and Monte Carlo filter prediction multiple particles subsequent time；Establish state variable
WhereinTriaxial coordinate location components are represented respectively,Three axis are represented respectively
Velocity component, mkRepresent different targets.According to CV models and Monte Carlo filter prediction multiple particles subsequent time
Location estimation
Step 3, location estimation is introduced to the distance measuring model established as input quantity
Obtain the corresponding distance estimations of multiple particles.
Step 4, with the distance estimations of multiple particles as reference, multiple distance measuring z are assessed with Gaussian distribution modelk
=[d1 d2 … dn] matching degree, wherein diRepresent multiple measured value i=that current time sensor node receives [1,
2…n].Attaching relation by the corresponding all particles of multiple distance estimations without normalized weight andCome
It determines, whereinRepresent diThe weight of corresponding multiple particles.Maximum diIt is determined as the target at this moment
Measurement ownership.It is the one ownership chain indicator obj of object definition each detected at each momentr=di, r=[1,
2...R], wherein R is the target numbers at current time, is closed for establishing between target and corresponding measurement the ownership that is mutually related
System.
Step 5, step 1-4 is repeated, obtains the measurement ownership chain [obj of all targets1 obj2 … objR], and feed back to
Dynamic host node.
Step 6, host node using recurrence model and particle filter completion, to this moment, estimate by multiple dbjective states.
Step 7, step 1-6 steps are repeated until multiple targets leave chaotic region.
With the application of the invention, it can realize that the air-ground coordination Initiative Defense under spatial domain and marine site, underwater environment monitor, are underwater
The deployment of the non-cooperation multiple target tracking application such as intrusion target tracking.
Embodiment described above is only that the preferred embodiment of the present invention is described, not to the model of the present invention
It encloses and is defined, under the premise of design spirit of the present invention is not departed from, those of ordinary skill in the art are to the technical side of the present invention
The various modifications and improvement that case is made should all be fallen into the protection domain that claims of the present invention determines.
Claims (7)
1. a kind of non-cooperation multi-target traces projectional technique based on distributed structure/architecture, main to include being distributed in monitoring region
The identical communication node of multiple hardware configurations, it is characterised in that：Changed by the different role of artificially defined communication node with reaching
Become the purpose of overall network framework；Communication node is divided into control centre's node, static host node, dynamic host node and common section
Point, static host node and dynamic host node belong to fusion center grade, and ordinary node belongs to sensor-level；
The method includes two parts of dynamic information source scheduling strategy and position tracking algorithm；
Dynamic information source scheduling strategy is each one servo tracking system of Target Assignment therein, in the servo-drive system of multiple targets
Using different communication frequencys and independently of each other, the transfer process positioned the purpose is to complete Multi-target position to single goal；It watches
Take the local positioning system that tracking system refers to be made of, aim at multiple sensors the simple target configuration of some physical distribution independence
System, servo-drive system include a dynamic host node and the ordinary node of several matched positioning；
Monitoring system is divided into basic information collection layer from low to high, position determines layer and decision dispatch layer；Basic information collection layer
In worked in coordination by node and obtain necessary distance measuring information；Position determine layer in in basic information collection layer to target
Distance measuring as foundation, with history flight path as reference, with multi-targets recognition algorithm, it is accurate in real time to be provided for decision-making level
Multiple targets motion state；Decision dispatch layer predicts the motor behavior of multiple targets using the location information that lower floor provides,
And reference prediction information carrys out distance to a declared goal predicted position nearest several nodes point by controlling the suspend mode or wake-up of reference mode
It Zuo Wei not dynamic host node and corresponding ordinary node.
2. a kind of non-cooperation multi-target traces projectional technique based on distributed structure/architecture according to claim 1, feature
It is, the scheduling of dynamic information source is divided into following steps：
In the initialization information preparation stage, each reference mode estimates the coordinate position of itself using the method for cooperative positioning；
All reference modes will build the static vector table of filtering environmental false-alarm whithin a period of time；Decision dispatch layer selects center
One node in domain is as static host node for the newborn target of monitoring in real time；
Step 1, initial phase static state host node records environment original state by emitting and receiving signal, and static vector table is used
In storage original state, and the filtering environmental noise in position fixing process；
Step 2, static host node is by periodically constantly emitting signal monitoring whole region, and the distance measurements provided with lower floor
It surveys as reference, believes with reference to the measurement of static environment vector table and dynamic environment vector table filtering environmental background and known target
Breath interferes, and emerging unknown object in real-time perception region is added into dynamic vector table and is provided for decision-making level and in real time may be used
The active position information for the newborn target leaned on；The location information for each having tracked target is recorded in dynamic vector table；
Step 3, after identified coordinates of targets is received, four reference modes near specified coordinate have continued for control centre
The track and localization work of pairs of target, one of them is appointed as dynamic host node, and others are appointed as occupied ordinary node；
Step 4, dynamic node each period is required for the location estimation of target the decision where uploading to control centre to dispatch
Layer, and decided whether again as its one group of new reference of distribution according to the movement tendency and coordinate position of target by decision dispatch layer
Node.
3. a kind of non-cooperation multi-target traces projectional technique based on distributed structure/architecture according to claim 1, feature
It is：In non-chaotic area, multi-objective problem is reduced to single-objective problem by dynamic information source scheduling strategy, utilizes sequential Meng Teka
Lip river filtering obtains the location estimation of target.
4. a kind of non-cooperation multi-target traces projectional technique based on distributed structure/architecture according to claim 1, feature
Be, dynamic information source scheduling strategy by processing procedure of the Multi-target position procedure decomposition for chaotic region and non-chaotic region,
In the positioning in non-chaotic region be reduced to single goal positioning, the positioning in chaotic region is using multiple target tracking algorithm to multiple mesh
Target status information is estimated；The chaotic region refer to multiple targets be in region that a dynamic node covered it
It is interior, and can not be respectively that the region of tracking system is configured in it；
Position tracking algorithm approaches multi-object tracking method using the two layers of particles of proposition in chaotic region and obtains multiple targets
Final position, particular content is as follows：
Step 1, control centre's node completes the transmission of last moment dbjective state while specified dynamic host node, wherein wrapping
Include the number of target and the status information of multiple targets, dynamic host node while positioning the moment and passing through acoustic location, to
The ordinary node of activation sends the number of last moment target and the status information of multiple targets；
Step 2, after each ordinary node obtains initial position and the status information of multiple targets；It it is three by target Kinematic Decomposition
Component in reference axis, and estimated according to the position of state transition equation and Monte Carlo filter prediction multiple particles subsequent time
Meter；
Step 3, location estimation obtains the corresponding distance of multiple particles by the distance measuring model of foundation and estimates as input quantity
Meter；
Step 4, with the distance estimations of multiple particles as reference, the matching of multiple distance measurings is assessed with Gaussian distribution model
Degree；Its result is by without normalized weight and determining in the corresponding all particles of multiple distance estimations；Weight it
It is considered that measurement of the target at this moment belongs to maximum distance measuring；A phase is established between target and corresponding measurement
The ownership chain of mutual correlation；
Step 5, step 2-4 are repeated, obtain the measurement ownership chain of all targets；
Step 6, corresponding ownership chain is fed back to dynamic host node by each node, and host node utilizes recurrence model and particle filter
To this moment, multiple dbjective states are estimated for completion；
Step 7, step 1-6 are repeated, until multiple targets leave chaotic region.
5. a kind of non-cooperation multi-target traces projectional technique based on distributed structure/architecture according to claim 1, feature
It is：Static system centered on static node is for discovery unknown object in real time, the dynamic centered on dynamic host node
System is used to track and estimate the state of multiple targets.
6. a kind of non-cooperation multi-target traces projectional technique based on distributed structure/architecture according to claim 1, feature
It is：The corresponding reference mode of static host node is constant in monitoring process, and a monitoring region only exists a static state
Host node；Dynamic host node maintenance data association algorithm and optimal estimation algorithm, realize to it is multiple identified target it is real-time with
Track and flight path joint.
7. a kind of non-cooperation multi-target traces projectional technique based on distributed structure/architecture according to claim 1, feature
It is：Dynamic host node is specified in real time after predicting the motion state of identified target by decision dispatch layer, a region
Present in dynamic host node number be less than or equal to identified unknown object number.
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