Information Consensus-based Distributed Cubature Kalman Filtering Algorithm with Intermittent Observations

doi:10.3969/j.issn.1000-1093.2021.11.013

Abstract

Abstract: For nonlinear target tracking of distributed fire control systems with intermittent observations，an information consensus-based distributed cubature Kalman filter (ICDCKF) algorithm is presented to improve the estimation accuracy of tracking system and ensure the consistency of estimated results of each sensor node. The modified cubature Kalman filter with intermittent observations is presented for nonlinear systems. Considering the correlation between local estimation information of sensor nodes，the covariance intersection method is firstly utilized in the nonlinear consensus filtering algorithm，and the estimation accuracy is improved under the condition of unknown cross-covariances. Specially，the condition for guaranteeing the convergence of estimated results of ICDCKF slgorithm with intermittent observations is derived for the feasibility. In this condition，the boundedness of the estimation covariance is proved strictly in theory. The proposed ICDCKF algorithm is applied to an electo-optical sensor network. The results show that the proposed ICDCKF algorithm can greatly improve the estimation accuracy of tracking system with the consensus estimation compared with CKFI, CKF_CI and KCF_Me algorithms.

Key words: distributedestimation, intermittentobservation, informationconsensus, covarianceintersection, cubatureKalmanfilter

CLC Number:

TP202⁺.4

WANG Ning， LI Yinya， QI Guoqing， SHENG Andong. Information Consensus-based Distributed Cubature Kalman Filtering Algorithm with Intermittent Observations[J]. Acta Armamentarii, 2021, 42(11): 2396-2408.

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第42卷第11期2021 年11月
兵工学报ACTA ARMAMENTARII
Vol.42No.11Nov. 2021

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[4]	CHEN Ye, SHENG An-dong, QI Guo-qing, LI Yin-ya. Event-triggered Kalman Consensus Filter with Intermittent Measurements and Its Application to the Electro-optical Sensor Network [J]. Acta Armamentarii, 2018, 39(4): 625-634.
[5]	LIANG Yuan， SHENG An-dong， WU Zhao-bin， ZHANG Jiao， QI Guo-qing， LI Yin-ya. Event-triggered Cubature Kalman Filtering Algorithm and Its Application in the Detection Network for Fire Control [J]. Acta Armamentarii, 2018, 39(3): 417-427.