Title :
General decentralized Kalman filters
Author :
Berg, Timothy M. ; Durrant-Whyte, Hugh F.
Author_Institution :
Dept. of Eng. Sci., Oxford Univ., UK
fDate :
29 June-1 July 1994
Abstract :
This paper considers a general decentralised Kalman filter, unique because it: requires no fusion center yet allows the different estimators to employ distributed models; minimizes communication with respect to message size and topology; requires no explicit knowledge of the transformations between the estimators; and reduces to previous results when appropriately constrained.
Keywords :
Kalman filters; network topology; prediction theory; state estimation; communication minimisation; distributed models; estimators; general decentralised Kalman filter; message size; topology; Computer architecture; Equations; Integrated circuit modeling; Neck; Noise measurement; Process design; Robustness; State estimation; State-space methods; Vectors;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.752482
