NDLI: Distributed consensus extended Kalman filter: a variance-constrained approach

Content Provider	IET Digital Library
Author	Li, Wenling Jia, Yingmin Du, Junping
Abstract	This study is concerned with the distributed state estimation problem for non-linear systems over sensor networks. By using the strategy of consensus on prior estimates, a distributed extended Kalman filter (EKF) is developed for each node to guarantee an optimised upper bound on the state estimation error covariance despite consensus terms and linearisation errors. The Kalman gain matrix is derived for each node by solving two Riccati-like difference equations. It is shown that the estimation error is bounded in mean square under certain conditions. The effectiveness of the proposed filter is evaluated on an indoor localisation of a mobile robot with visual tracking systems.
Starting Page	382
Ending Page	389
Page Count	8
ISSN	17518644
Volume Number	11
e-ISSN	17518652
Issue Number	Issue 3, Feb (2017)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/11/3
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2016.1054
Journal	IET Control Theory & Applications
Publisher Date	2016-11-07
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Covariance Analysis Difference Equation Differential Equation (numerical Analysis) Distributed Consensus Extended Kalman Filter Distributed EKF Distributed State Estimation Problem Kalman Filter Kalman Gain Matrix Linear Algebra Matrix Algebra Mobile Robot Indoor Localisation Modelling And Identification Nonlinear Control System Nonlinear Filter Nonlinear System Numerical Analysis Riccati Equation Riccati-like Difference Equation Sensor Network Signal Processing Theory Simulation State Estimation State Estimation Error Covariance Statistics Variance-constrained Approach Visual Tracking System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Distributed state estimation for stochastic non-linear systems with random delays and packet dropouts

MIMO nonlinear control based on Divided Difference Filters

Dynamical approach of Riccati difference equations to non linear filters stability in constrained state estimation systems

Square-root-extended complex Kalman filter for estimation of symmetrical components in power system

Orientation Estimation by Error-State Extended Kalman Filter in Quaternion vector space

Desensitised Kalman filtering

Sequential covariance intersection-based Kalman consensus filter with intermittent observations

A fake algebraic riccati technique for tracking superimposed signals.

Three tanks level estimation using Divided Difference Filters

Distributed consensus extended Kalman filter: a variance-constrained approach

Similar Documents

Distributed state estimation for stochastic non-linear systems with random delays and packet dropouts

MIMO nonlinear control based on Divided Difference Filters

Dynamical approach of Riccati difference equations to non linear filters stability in constrained state estimation systems

Square-root-extended complex Kalman filter for estimation of symmetrical components in power system

Orientation Estimation by Error-State Extended Kalman Filter in Quaternion vector space

Desensitised Kalman filtering

Sequential covariance intersection-based Kalman consensus filter with intermittent observations

A fake algebraic riccati technique for tracking superimposed signals.

Three tanks level estimation using Divided Difference Filters

Distributed consensus extended Kalman filter: a variance-constrained approach