Distributed Kalman Filtering Over Massive Data Sets: Analysis Through Large Deviations of Random Riccati Equations

DOI10.1109/TIT.2015.2389221zbMATH Open1359.94123arXiv1402.0246OpenAlexW1980151944MaRDI QIDQ2978741FDOQ2978741

Authors: Di Li, Soummya Kar, José M. F. Moura, H. Vincent Poor, Shuguang Cui 

Publication date: 28 April 2017

Published in: IEEE Transactions on Information Theory (Search for Journal in Brave)

Abstract: This paper studies the convergence of the estimation error process and the characterization of the corresponding invariant measure in distributed Kalman filtering for potentially unstable and large linear dynamic systems. A gossip network protocol termed Modified Gossip Interactive Kalman Filtering (M-GIKF) is proposed, where sensors exchange their filtered states (estimates and error covariances) and propagate their observations via inter-sensor communications of rate $overlinegamma$; $overlinegamma$ is defined as the averaged number of inter-sensor message passages per signal evolution epoch. The filtered states are interpreted as stochastic particles swapped through local interaction. The paper shows that the conditional estimation error covariance sequence at each sensor under M-GIKF evolves as a random Riccati equation (RRE) with Markov modulated switching. By formulating the RRE as a random dynamical system, it is shown that the network achieves weak consensus, i.e., the conditional estimation error covariance at a randomly selected sensor converges weakly (in distribution) to a unique invariant measure. Further, it is proved that as $overlinegammaightarrowinfty$ this invariant measure satisfies the Large Deviation (LD) upper and lower bounds, implying that this measure converges exponentially fast (in probability) to the Dirac measure $delt{a}_{P^{\ast }}$, where $P^{*}$ is the stable error covariance of the centralized (Kalman) filtering setup. The LD results answer a fundamental question on how to quantify the rate at which the distributed scheme approaches the centralized performance as the inter-sensor communication rate increases.

Full work available at URL: https://arxiv.org/abs/1402.0246

Mathematics Subject Classification ID

Statistical aspects of information-theoretic topics (62B10) Inference from stochastic processes and prediction (62M20) Signal theory (characterization, reconstruction, filtering, etc.) (94A12) Signal detection and filtering (aspects of stochastic processes) (60G35)

Cited In (5)

• Convergent properties of Riccati equation with application to stability analysis of state estimation
• A distributed Kalman filtering algorithm with fast finite-time convergence for sensor networks
• A majorization inequality and its application to distributed Kalman filtering
• Distributed state estimation for dynamic positioning systems with uncertain disturbances and transmission time delays
• State estimation for networked systems with Markovian communication constraints and multiple packet dropouts

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