Distributed extended object tracking information filter over sensor networks

DOI10.1002/RNC.6425arXiv2111.02098MaRDI QIDQ6182086FDOQ6182086

Authors: Zhifei Li, Yan Liang, Linfeng Xu 

Publication date: 23 January 2024

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Abstract: This work aims to design a distributed extended object tracking (EOT) system over a realistic network, where both the extent and kinematics are required to retain consensus within the entire network. To this end, we resort to the multiplicative error model (MEM) that allows the extent parameters of perpendicular axis-symmetric objects to have individual uncertainty. To incorporate the MEM into the information filter (IF) style, we use the moment-matching technique to derive two pair linear models with only additive noise. The separation is merely in a fashion, and the cross-correlation between states is preserved as parameters in each other's model. As a result, the closed-form expressions are transferred into an alternating iteration of two linear IFs. With the two models, a centralized IF is proposed wherein the measurements are converted into a summation of innovation parts. Later, under a sensor network with the communication nodes and sensor nodes, we present two distributed IFs through the consensus on information and consensus on measurement schemes, respectively. Moreover, we prove the estimation errors of the proposed filter are exponentially bounded in the mean square. The benefits are testified by numerical experiments in comparison to state-of-the-art filters in literature.

Full work available at URL: https://arxiv.org/abs/2111.02098

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zbMATH Keywords

nonlinear control systemwireless sensor networkssequential processingextended object trackingdistributed consensus estimate

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Networked control (93B70) Consensus (93D50)

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Cited In (1)

• Event-triggered differential private distributed fusion estimation for sensor networks with unknown cross-correlations

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