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JRM Vol.36 No.3 pp. 680-688
doi: 10.20965/jrm.2024.p0680
(2024)

Paper:

Innovation Sharing Distributed Kalman Filter with Packet Loss

Shuo Huang and Kaoru Yamamoto ORCID Icon

Faculty of Information Science and Electrical Engineering, Kyushu University
744 Motooka, Nishi-ku, Fukuoka 819-0395, Japan

Received:
November 20, 2023
Accepted:
March 27, 2024
Published:
June 20, 2024
Keywords:
distributed Kalman filter, packet dropout, multisensor network
Abstract

This study investigates the problem of distributed state estimation. A distributed Kalman filter algorithm is proposed, in which sensors exchange their innovations. A detailed analysis is conducted for the case of two sensor networks, demonstrating that the proposed algorithm outperforms the case where each sensor runs a conventional Kalman filter without communication. The upper bounds of error covariance matrices are also derived in the case of packet loss. Numerical examples verify the effectiveness of the proposed algorithm.

Conceptual diagram of distributed filtering

Conceptual diagram of distributed filtering

Cite this article as:
S. Huang and K. Yamamoto, “Innovation Sharing Distributed Kalman Filter with Packet Loss,” J. Robot. Mechatron., Vol.36 No.3, pp. 680-688, 2024.
Data files:
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Last updated on Jul. 12, 2024