Adaptive consensus fusion estimation for MSN with communication delays and switching network topologies

To the problem of distributed estimation for mobile sensor networks with communication delays and switching network topologies, a novel algorithm, named Adaptive Consensus based Distributed Unscented Information Filter, is presented. The proposed algorithm is based on unscented information filter, adaptive consensus algorithm, as well as a new fusion framework for the consideration of the communication delays. A target tracking application using a mobile sensor networks is employed to illustrate the performance of the proposed algorithm. Simulation results show 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 nodes and the adaptability of the communication delays were assured.