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Consistent Distributed Track Fusion Under Communication Constraints
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering. (Sensor Fusion)
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0003-3270-171X
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.ORCID iD: 0000-0002-1971-4295
2019 (English)In: Proceedings of the 22nd International Conference on Information Fusion (FUSION), 2019Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of retrieving consistentestimates in a distributed network where the communication between the nodes is constrained such that only the diagonal elements of the covariance matrix are allowed to be exchanged. Several methods are developed for preserving and/or recovering consistency under the constraints imposed by the communication protocol. The proposed methods are used in conjunction with the covariance intersection method and the estimation performance is evaluated based on information usage and consistency. The results show that among the proposed methods, consistency can be preserved equally well at the transmitting node as at the receiving node.

Place, publisher, year, edition, pages
2019.
Keywords [en]
distributed estimation, track fusion, communication constraints, covariance intersection, consistency, consistency preservation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-159102OAI: oai:DiVA.org:liu-159102DiVA, id: diva2:1338856
Conference
22nd International Conference on Information Fusion (FUSION), Ottawa, Canada, July 2-5, 2019
Projects
LINK-SIC
Funder
Vinnova, LINK-SICSwedish Research Council, Scalable Kalman filtersAvailable from: 2019-07-24 Created: 2019-07-24 Last updated: 2019-09-05Bibliographically approved

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Sjanic, ZoranGustafsson, FredrikHendeby, Gustaf

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