CUED Publications database

Distributed Kalman Filter with minimum-time covariance computation

Thia, J and Yuan, Y and Shi, L and Gonçalves, J (2013) Distributed Kalman Filter with minimum-time covariance computation. Proceedings of the IEEE Conference on Decision and Control. pp. 1995-2000. ISSN 0191-2216

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Abstract

This paper considerably improves the well-known Distributed Kalman Filter (DKF) algorithm by Olfati-Saber (2007) by introducing a novel decentralised consensus value computation scheme, using only local observations of sensors. It has been shown that the state estimates obtained in [8] and [9] approaches those of the Central Kalman Filter (CKF) asymptotically. However, the convergence to the CKF can sometimes be too slow. This paper proposes an algorithm that enables every node in a sensor network to compute the global average consensus matrix of measurement noise covariance in minimum time without accessing global information. Compared with the algorithm in [8], our theoretical analysis and simulation results show that the new algorithm can offer improved performance in terms of time taken for the state estimates to converge to that of the CKF. © 2013 IEEE.

Item Type: Article
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 17 Jul 2017 19:06
Last Modified: 01 Aug 2017 03:02
DOI: