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Experimental Evaluation of a Distributed Kalman Filter Algorithm

In English

Författare

Summary, in English

This paper evaluates the performance of a distributed Kalman filter applied to an ultrasound based positioning application with seven sensor nodes. By distributed we mean that all nodes in the network desires an estimate of the full state of the observed system and there is no centralized computation center after deployment. Communication only takes place between neighbors and only once each sampling interval. The problem is solved by communicating estimates between neighbors and then forming a weighted average as the new estimate. The weights are optimized to yield a small estimation error covariance in stationarity. The minimization can be done off line thus allowing only estimates to be communicated. In the experimental setup the distributed solution performs almost as good as a centralized solution. The proposed algorithm also proved very robust against packet loss.

Publiceringsår

2007

Språk

Engelska

Sidor

3562-3567

Dokumenttyp

Konferensbidrag

Ämne

  • Control Engineering

Conference name

46th IEEE Conference on Decision and Control, 2007

Conference date

2007-12-12 - 2007-12-14

Conference place

New Orleans, LA, United States

Status

Published