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Multi-Sensor Consensus Estimation of State, Sensor Biases and Unknown Input


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Key Laboratory of Information Fusion Technology, Ministry of Education, School of Automation, Northwestern Polytechnical University, Xi’an 710129, China





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Academic Editors: Xue-Bo Jin, Feng-Bao Yang, Shuli Sun and Hong Wei

Abstract This paper addresses the problem of the joint estimation of system state and generalized sensor bias GSB under a common unknown input UI in the case of bias evolution in a heterogeneous sensor network. First, the equivalent UI-free GSB dynamic model is derived and the local optimal estimates of system state and sensor bias are obtained in each sensor node; Second, based on the state and bias estimates obtained by each node from its neighbors, the UI is estimated via the least-squares method, and then the state estimates are fused via consensus processing; Finally, the multi-sensor bias estimates are further refined based on the consensus estimate of the UI. A numerical example of distributed multi-sensor target tracking is presented to illustrate the proposed filter. View Full-Text

Keywords: bias estimation; state estimation; sensor registration; network consensus bias estimation; state estimation; sensor registration; network consensus





Autor: Jie Zhou, Yan Liang * , Feng Yang, Linfeng Xu and Quan Pan

Fuente: http://mdpi.com/



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