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| Adaptive Consensus Fusion Estimation for Mobile Sensor Networks |
| Wang-Lin, ZHANG Guo-Zhong, ZHU Hua-Yong, SHEN Lin-Cheng |
| (College of Mechatronic Engineering and Automation, National University of Defense Technology, Changsha 410073, China) |
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Abstract To the problem of distributed estimation for mobile sensor networks（MSN）with communication delays and switching network topologies, a novel distributed fusion estimation algorithm, named adaptive consensus based bistributed unscented information filter（AC_DUIF）, was presented. The proposed algorithm was based on unscented information filter, adaptive consensus algorithm, as well as a new fusion framework for the consideration of the communication delays. 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. The 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 are assured.
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Published: 30 March 2011
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