Distributed Cooperative State Estimation For Dynamically Changing Networked Navigation

Keywords

consensus; cooperative Kalman-bucy; cooperative state estimation; distributed; Kalman-Bucy

Abstract

In this paper, two new Cooperative Kalman-Bucy filters are derived using the matrix theoretic consensus based approach to cooperative control. The first is a centralized design of Cooperative Kalman-Bucy filter for which stabilizing and optimal gains are found to minimize error state covariance. Further, a distributed design of Cooperative Kalman-Bucy filter is also proposed by explicitly accounting for available information. Both designs of the proposed new Cooperative Kalman-Bucy filter can be applied to a team of heterogeneous time-varying systems within an incomplete, unidirectional communications network, and the overall estimation performance is superior to individual Kalman filters as long as better sensors are located at globally reachable nodes.

Publication Date

5-26-2016

Publication Title

Proceedings of the IEEE/ION Position, Location and Navigation Symposium, PLANS 2016

Number of Pages

987-993

Document Type

Article; Proceedings Paper

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/PLANS.2016.7479799

Socpus ID

84978483983 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84978483983

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