Innovation Sharing Distributed Kalman Filter with Packet Loss

被引：0

作者：

Huang, Shuo ^{[1
]}

Yamamoto, Kaoru ^{[1
]}

机构：

[1] Kyushu Univ, Fac Informat Sci & Elect Engn, 744 Motooka,Nishi Ku, Fukuoka 8190395, Japan

来源：

JOURNAL OF ROBOTICS AND MECHATRONICS | 2024年 / 36卷 / 03期

关键词：

distributed Kalman filter; packet dropout; multisensor network;

D O I：

10.20965/jrm.2024.p0680

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This study investigates the problem of distributed state estimation. A distributed Kalman filter algorithm is proposed, in which sensors exchange their innovations. A detailed analysis is conducted for the case of two sensor networks, demonstrating that the proposed algorithm outperforms the case where each sensor runs a conventional Kalman filter without communication. The upper bounds of error covariance matrices are also derived in the case of packet loss. Numerical examples verify the effectiveness of the proposed algorithm.

引用

页码：680 / 688

页数：9

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