Consensus based Distributed Unscented Information Filtering for Air Mobile Sensor Networks

To the problem of distributed estimation for Mobile Sensor Networks, a new algorithm, named Consensus based Distributed Unscented Information Filter(C_DUIF), was presented, which was based on Unscented Information Filter, Consensus algorithm, as well as a distributed fusion architecture. The proposed algorithm took important properties for estimating accuracy (Unscented Transform), fusion ability (information), robustness (distributed fusion architecture) and distributed consensus. An application of target tracking using an Air Mobile Sensor Networks with dynamically switched network topologies was employed to illustrate the performance of the proposed algorithm. Simulation results showed that the proposed method can significantly improve the accuracy of target position estimation of each sensor node in a distributed fashion, when the distributed consensus between each node was assured.