Title :
A sub-optimal distributed Kalman filter with fusion feedback for acyclic systems
Author :
Azizi, S.M. ; Khorasani, K.
Author_Institution :
Dept. of Electr. & Comput. Eng., Concordia Univ., Montreal, QC, Canada
Abstract :
In this paper, a new distributed Kalman filter is proposed for state estimation of systems with acyclic digraph, namely acyclic systems. This method can be applied to a number of large-scale systems including sensor networks and formation flying missions. An acyclic system can be represented by an overlapping block-diagonal state space (OBDSS) model, which requires an extensive communication overhead for implementing a centralized Kalman filter scheme. The OBDSS model is transformed into our proposed constrained-state block-diagonal state space (CSBDSS) model, which is purely diagonal and simplifies the implementation of a distributed Kalman filter scheme. Corresponding to each Kalman filter iteration a specific constrained-state condition needs to be satisfied that is embedded with a fusion feedback. Simulation results confirm the effectiveness of our proposed analytical work.
Keywords :
Kalman filters; directed graphs; feedback; large-scale systems; state estimation; Kalman filter iteration; acyclic digraph; acyclic systems; centralized Kalman filter scheme; constrained-state block-diagonal state space model; formation flying missions; fusion feedback; large-scale systems; overlapping block-diagonal state space model; sensor networks; state estimation; suboptimal distributed Kalman filter; Analytical models; Control systems; Fault diagnosis; Feedback; Large-scale systems; Performance evaluation; Satellites; Sensor systems; State estimation; State-space methods;
Conference_Titel :
Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-4244-3871-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2009.5400121