Title :
A decentralized data fusion algorithm for local Kalman estimates in multisensor environment
Author :
Minhas, Rashid ; Shin, V.I. ; Wu, Q. M Jonathan
Author_Institution :
Dept. of Electr. Eng., Univ. of Windsor, Windsor, ON
Abstract :
A novel suboptimal fusion algorithm for decentralized architecture is proposed. The proposed method is based on the optimal mean-square combination of an arbitrary number of local estimates. The proposed algorithm is well suited for real-time computation of global estimate with parallel processing of individual sensor measurements. Low communication bandwidth is required for proposed method as only local estimates are transmitted among network nodes instead of higher dimensional raw sensor measurements or feature vectors.
Keywords :
Kalman filters; multivariable systems; sensor fusion; communication bandwidth; decentralized architecture; decentralized data fusion algorithm; local Kalman filter; optimal mean-square combination; parallel processing; sensor measurement; suboptimal fusion algorithm; Additive white noise; Automation; Bandwidth; Computer architecture; Filtering; Kalman filters; Parallel processing; Sensor fusion; Signal processing algorithms; State estimation; Data fusion; Decentralized network architecture; Dynamic systems; Kalman filter; Multisensor environment;
Conference_Titel :
Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on
Conference_Location :
Qingdao
Print_ISBN :
978-1-4244-2502-0
Electronic_ISBN :
978-1-4244-2503-7
DOI :
10.1109/ICAL.2008.4636292
