2019/11/15 by Wenling Li, Yingmin Jia, Junping Du · 2 citations
Engineering · Computer Science · #Indoor and Outdoor Localization Technologies #Target Tracking and Data Fusion in Sensor Networks #Distributed Control Multi-Agent Systems
paper · doi:10.1109/taes.2019.2953372
This correspondence is concerned with the problem of distributed Kalman filtering for cooperative localization with absolute and relative measurements. Each target state is estimated by using locally available absolute measurements and relative measurements with other targets in the neighborhood. Two distributed Kalman filters are developed by enforcing each target to transmit its local estimates to the neighbors in a directed graph. A sufficient condition is established to guarantee the stability of the error dynamics. Numerical simulations are provided to verify the effectiveness of the proposed filters.