Distributed Tracking with Consensus on Noisy Time-varying Graphs with Incomplete Data

摘要：

In this paper we address the problem of distributed tracking with consensus on a time-varying graph with incomplete data and noisy communication links. We develop a distributed and collaborative tracking with consensus algorithm by combining distributed Kalman filtering with consensus updates to handle a time-varying network topology in which not every node has local observations to generate own local tracking estimates. We introduce the concepts of active node set and connectivity graph to characterize such a network, and by merging these two, an effective network graph is obtained. Simulation results and performance analysis of the proposed algorithm are given and compared with that of distributed local Kalman filtering with centralized fusion.

作者: Sudharman K.Jayaweera Yongxiang Ruan R.Scott Erwin

作者单位: Communications and Information Sciences Lab (CISL), Department of Electrical and Computer Engineerin Air Force Research Laboratory (AFRL), Space Vehicles Directorate, Kirtland AFB, NM 87117

会议类型: 国际会议

会议名称: 2010 IEEE 10th International Conference on Signal Processing(第十届信号处理国际会议 ICSP 2010)

会议地点: 北京

会议语种:英文

页码: 2584-2587

在线出版日期: 2010-08-24（万方平台首次上网日期，不代表论文的发表时间）