Fusion strategies for unequal state vectors in distributed Kalman filtering
conference paper
Distributed implementations of state estimation algorithms generally have in common that each node in a networked system computes an estimate on the entire global state. Accordingly, each node has to store and compute an estimate of the same state vector irrespective of whether its sensors can only observe a small part of it. In particular, the task of monitoring large-scale phenomena renders such distributed estimation approaches impractical due to the sheer size of the corresponding state vector. In order to reduce the workload of the nodes, the state vector to be estimated is subdivided into smaller, possibly overlapping parts. In this situation, fusion does not only refer to the computation of an improved estimate but also to the task of reassembling an estimate for the entire state from the locally computed estimates of unequal state vectors. However, existing fusion methods require equal state representations and, hence, cannot be employed. For that reason, a fusion strategy for estimates of unequal and possibly overlapping state vectors is derived that minimizes the mean squared estimation error. For the situation of unknown cross-correlations between local estimation errors, also a conservative fusion strategy is proposed. © IFAC.
TNO Identifier
526082
Publisher
IFAC Secretariat
Source title
19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014; Cape Town; South Africa; 24-29 August 2014
Editor(s)
Xia X.
Boje E.
Boje E.
Pages
3262-3267
Files
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