NDLI: Squared-root cubature information consensus filter for non-linear decentralised state estimation in sensor networks

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Squared-root cubature information consensus filter for non-linear decentralised state estimation in sensor networks

Content Provider	IET Digital Library
Author	Yu, Liu You, He Haipeng, Wang
Abstract	Distributed analysis of target kinematics captured by a large network of sensors has received significant attention lately. Tracking moving targets in nonlinear systems is one of the most fundamental tasks in this regard and information-type consensus filters (ICFs) have been applied to this problem. To improve the estimate performance, a squared-root cubature information filter which can avoid numerically sensitive matrix operations such as matrix square-rooting and inversion has been developed firstly. And then, based on this filter, a decentralised information filtering algorithm is proposed in an improved consensus framework. Specifically, consensus update at each time-cycle in the modified consensus scheme is computed in two steps, first towards the predicted value and then towards the final information estimate update, which can improve average estimation accuracy and speed the average consensus. Besides the basic merits of the traditional ICFs, the resulting algorithm is more scalable and robust. Simulation results clearly show the advantage of the proposed algorithm compared with existing ICFs in the considered application scenario.
Starting Page	931
Ending Page	938
Page Count	8
ISSN	17518784
Volume Number	8
e-ISSN	17518792
Issue Number	Issue 8, Oct (2014)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-rsn/8/8
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-rsn.2013.0283
Journal	IET Radar, Sonar & Navigation
Publisher Date	2014-03-19
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Decentralised Information Filtering Algorithm Distributed Analysis Filtering Method in Signal Processing Filtering Theory Information Filter Information-type Consensus Filter Inversion Matrix Square-rooting Moving Target Tracking Nonlinear Decentralised State Estimation Nonlinear System Numerically Sensitive Matrix Operation Sensor Fusion Sensor Network Signal Processing Theory Squared-root Cubature Information Consensus Filter State Estimation Target Kinematics Target Tracking
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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