TY - GEN
T1 - A sub-optimal distributed Kalman filter with fusion feedback for acyclic systems
AU - Azizi, S. M.
AU - Khorasani, K.
PY - 2009/12/1
Y1 - 2009/12/1
N2 - In this paper, a new distributed Kalman filter is proposed for state estimation of systems with acyclic digraph, namely acyclic systems. This method can be applied to a number of large-scale systems including sensor networks and formation flying missions. An acyclic system can be represented by an overlapping block-diagonal state space (OBDSS) model, which requires an extensive communication overhead for implementing a centralized Kalman filter scheme. The OBDSS model is transformed into our proposed constrained-state block-diagonal state space (CSBDSS) model, which is purely diagonal and simplifies the implementation of a distributed Kalman filter scheme. Corresponding to each Kalman filter iteration a specific constrained-state condition needs to be satisfied that is embedded with a fusion feedback. Simulation results confirm the effectiveness of our proposed analytical work.
AB - In this paper, a new distributed Kalman filter is proposed for state estimation of systems with acyclic digraph, namely acyclic systems. This method can be applied to a number of large-scale systems including sensor networks and formation flying missions. An acyclic system can be represented by an overlapping block-diagonal state space (OBDSS) model, which requires an extensive communication overhead for implementing a centralized Kalman filter scheme. The OBDSS model is transformed into our proposed constrained-state block-diagonal state space (CSBDSS) model, which is purely diagonal and simplifies the implementation of a distributed Kalman filter scheme. Corresponding to each Kalman filter iteration a specific constrained-state condition needs to be satisfied that is embedded with a fusion feedback. Simulation results confirm the effectiveness of our proposed analytical work.
UR - http://www.scopus.com/inward/record.url?scp=77950792715&partnerID=8YFLogxK
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U2 - 10.1109/CDC.2009.5400121
DO - 10.1109/CDC.2009.5400121
M3 - Conference contribution
AN - SCOPUS:77950792715
SN - 9781424438716
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 5151
EP - 5157
BT - Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
T2 - 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Y2 - 15 December 2009 through 18 December 2009
ER -