6,385 research outputs found
A Survey on Multisensor Fusion and Consensus Filtering for Sensor Networks
Multisensor fusion and consensus filtering are two fascinating subjects in the research of sensor networks. In this survey, we will cover both classic results and recent advances developed in these two topics. First, we recall some important results in the development ofmultisensor fusion technology. Particularly, we pay great attention to the fusion with unknown correlations, which ubiquitously exist in most of distributed filtering problems. Next, we give a systematic review on several widely used consensus filtering approaches. Furthermore, some latest progress on multisensor fusion and consensus filtering is also presented. Finally,
conclusions are drawn and several potential future research directions are outlined.the Royal Society of the UK, the National Natural Science Foundation of China under Grants 61329301, 61374039, 61304010, 11301118, and 61573246, the Hujiang Foundation of China under Grants C14002
and D15009, the Alexander von Humboldt Foundation of Germany, and the Innovation Fund Project for Graduate Student of Shanghai under Grant JWCXSL140
The Greedy Dirichlet Process Filter - An Online Clustering Multi-Target Tracker
Reliable collision avoidance is one of the main requirements for autonomous
driving. Hence, it is important to correctly estimate the states of an unknown
number of static and dynamic objects in real-time. Here, data association is a
major challenge for every multi-target tracker. We propose a novel multi-target
tracker called Greedy Dirichlet Process Filter (GDPF) based on the
non-parametric Bayesian model called Dirichlet Processes and the fast posterior
computation algorithm Sequential Updating and Greedy Search (SUGS). By adding a
temporal dependence we get a real-time capable tracking framework without the
need of a previous clustering or data association step. Real-world tests show
that GDPF outperforms other multi-target tracker in terms of accuracy and
stability
Distributed Bayesian Filtering using Logarithmic Opinion Pool for Dynamic Sensor Networks
The discrete-time Distributed Bayesian Filtering (DBF) algorithm is presented
for the problem of tracking a target dynamic model using a time-varying network
of heterogeneous sensing agents. In the DBF algorithm, the sensing agents
combine their normalized likelihood functions in a distributed manner using the
logarithmic opinion pool and the dynamic average consensus algorithm. We show
that each agent's estimated likelihood function globally exponentially
converges to an error ball centered on the joint likelihood function of the
centralized multi-sensor Bayesian filtering algorithm. We rigorously
characterize the convergence, stability, and robustness properties of the DBF
algorithm. Moreover, we provide an explicit bound on the time step size of the
DBF algorithm that depends on the time-scale of the target dynamics, the
desired convergence error bound, and the modeling and communication error
bounds. Furthermore, the DBF algorithm for linear-Gaussian models is cast into
a modified form of the Kalman information filter. The performance and robust
properties of the DBF algorithm are validated using numerical simulations
An objective based classification of aggregation techniques for wireless sensor networks
Wireless Sensor Networks have gained immense popularity in recent years due to their ever increasing capabilities and wide range of critical applications. A huge body of research efforts has been dedicated to find ways to utilize limited resources of these sensor nodes in an efficient manner. One of the common ways to minimize energy consumption has been aggregation of input data. We note that every aggregation technique has an improvement objective to achieve with respect to the output it produces. Each technique is designed to achieve some target e.g. reduce data size, minimize transmission energy, enhance accuracy etc. This paper presents a comprehensive survey of aggregation techniques that can be used in distributed manner to improve lifetime and energy conservation of wireless sensor networks. Main contribution of this work is proposal of a novel classification of such techniques based on the type of improvement they offer when applied to WSNs. Due to the existence of a myriad of definitions of aggregation, we first review the meaning of term aggregation that can be applied to WSN. The concept is then associated with the proposed classes. Each class of techniques is divided into a number of subclasses and a brief literature review of related work in WSN for each of these is also presented
Adaptive Quantizers for Estimation
In this paper, adaptive estimation based on noisy quantized observations is
studied. A low complexity adaptive algorithm using a quantizer with adjustable
input gain and offset is presented. Three possible scalar models for the
parameter to be estimated are considered: constant, Wiener process and Wiener
process with deterministic drift. After showing that the algorithm is
asymptotically unbiased for estimating a constant, it is shown, in the three
cases, that the asymptotic mean squared error depends on the Fisher information
for the quantized measurements. It is also shown that the loss of performance
due to quantization depends approximately on the ratio of the Fisher
information for quantized and continuous measurements. At the end of the paper
the theoretical results are validated through simulation under two different
classes of noise, generalized Gaussian noise and Student's-t noise
Localisation of mobile nodes in wireless networks with correlated in time measurement noise.
Wireless sensor networks are an inherent part of decision making, object tracking and location awareness systems. This work is focused on simultaneous localisation of mobile nodes based on received signal strength indicators (RSSIs) with correlated in time measurement noises. Two approaches to deal with the correlated measurement noises are proposed in the framework of auxiliary particle filtering: with a noise augmented state vector and the second approach implements noise decorrelation. The performance of the two proposed multi model auxiliary particle filters (MM AUX-PFs) is validated over simulated and real RSSIs and high localisation accuracy is demonstrated
Bibliographic Review on Distributed Kalman Filtering
In recent years, a compelling need has arisen to understand the effects of distributed information structures on estimation and filtering. In this paper, a bibliographical review on distributed Kalman filtering (DKF) is provided.\ud
The paper contains a classification of different approaches and methods involved to DKF. The applications of DKF are also discussed and explained separately. A comparison of different approaches is briefly carried out. Focuses on the contemporary research are also addressed with emphasis on the practical applications of the techniques. An exhaustive list of publications, linked directly or indirectly to DKF in the open literature, is compiled to provide an overall picture of different developing aspects of this area
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