5,911 research outputs found
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
Improved Distributed Estimation Method for Environmental\ud time-variant Physical variables in Static Sensor Networks
In this paper, an improved distributed estimation scheme for static sensor networks is developed. The scheme is developed for environmental time-variant physical variables. The main contribution of this work is that the algorithm in [1]-[3] has been extended, and a filter has been designed with weights, such that the variance of the estimation errors is minimized, thereby improving the filter design considerably\ud
and characterizing the performance limit of the filter, and thereby tracking a time-varying signal. Moreover, certain parameter optimization is alleviated with the application of a particular finite impulse response (FIR) filter. Simulation results are showing the effectiveness of the developed estimation algorithm
Distributed and adaptive location identification system for mobile devices
Indoor location identification and navigation need to be as simple, seamless,
and ubiquitous as its outdoor GPS-based counterpart is. It would be of great
convenience to the mobile user to be able to continue navigating seamlessly as
he or she moves from a GPS-clear outdoor environment into an indoor environment
or a GPS-obstructed outdoor environment such as a tunnel or forest. Existing
infrastructure-based indoor localization systems lack such capability, on top
of potentially facing several critical technical challenges such as increased
cost of installation, centralization, lack of reliability, poor localization
accuracy, poor adaptation to the dynamics of the surrounding environment,
latency, system-level and computational complexities, repetitive
labor-intensive parameter tuning, and user privacy. To this end, this paper
presents a novel mechanism with the potential to overcome most (if not all) of
the abovementioned challenges. The proposed mechanism is simple, distributed,
adaptive, collaborative, and cost-effective. Based on the proposed algorithm, a
mobile blind device can potentially utilize, as GPS-like reference nodes,
either in-range location-aware compatible mobile devices or preinstalled
low-cost infrastructure-less location-aware beacon nodes. The proposed approach
is model-based and calibration-free that uses the received signal strength to
periodically and collaboratively measure and update the radio frequency
characteristics of the operating environment to estimate the distances to the
reference nodes. Trilateration is then used by the blind device to identify its
own location, similar to that used in the GPS-based system. Simulation and
empirical testing ascertained that the proposed approach can potentially be the
core of future indoor and GPS-obstructed environments
Survey of Inter-satellite Communication for Small Satellite Systems: Physical Layer to Network Layer View
Small satellite systems enable whole new class of missions for navigation,
communications, remote sensing and scientific research for both civilian and
military purposes. As individual spacecraft are limited by the size, mass and
power constraints, mass-produced small satellites in large constellations or
clusters could be useful in many science missions such as gravity mapping,
tracking of forest fires, finding water resources, etc. Constellation of
satellites provide improved spatial and temporal resolution of the target.
Small satellite constellations contribute innovative applications by replacing
a single asset with several very capable spacecraft which opens the door to new
applications. With increasing levels of autonomy, there will be a need for
remote communication networks to enable communication between spacecraft. These
space based networks will need to configure and maintain dynamic routes, manage
intermediate nodes, and reconfigure themselves to achieve mission objectives.
Hence, inter-satellite communication is a key aspect when satellites fly in
formation. In this paper, we present the various researches being conducted in
the small satellite community for implementing inter-satellite communications
based on the Open System Interconnection (OSI) model. This paper also reviews
the various design parameters applicable to the first three layers of the OSI
model, i.e., physical, data link and network layer. Based on the survey, we
also present a comprehensive list of design parameters useful for achieving
inter-satellite communications for multiple small satellite missions. Specific
topics include proposed solutions for some of the challenges faced by small
satellite systems, enabling operations using a network of small satellites, and
some examples of small satellite missions involving formation flying aspects.Comment: 51 pages, 21 Figures, 11 Tables, accepted in IEEE Communications
Surveys and Tutorial
Simulation tool implementing centralized and distributed algorithms for tracking acoustic targets
The goal of this document is the implementation of a software tool for the
simulation of the acoustic tracking problem over a wireless sensor network working
in a centralized or distributed manner. Its Graphical User Interface (GUI) allows
the user to configure the parameters associated to the diffusion adaptive algorithms
implemented in the simulation tool, in order to offer a visual representation of the
behavior of a real sensor network working with those settings. For illustration we
ran several simulations, which allowed us to visualize the performance of different
network configurations. The results obtained with the implemented simulation tool
show it can be very helpful to study the audio target tracking problem and ultimately
for the design of sensor networks that can guarantee certain performance criteria.
Moreover, we have developed the code for the implementation of a real acoustictracking
sensor network working in a centralized manner, using ©Libelium’sWaspmote™
sensor boards as the network nodes and using ©Libelium’s Meshlium-Xtreme™ as central
node.Ingeniería de Sistemas Audiovisuale
Millimeter-wave Wireless LAN and its Extension toward 5G Heterogeneous Networks
Millimeter-wave (mmw) frequency bands, especially 60 GHz unlicensed band, are
considered as a promising solution for gigabit short range wireless
communication systems. IEEE standard 802.11ad, also known as WiGig, is
standardized for the usage of the 60 GHz unlicensed band for wireless local
area networks (WLANs). By using this mmw WLAN, multi-Gbps rate can be achieved
to support bandwidth-intensive multimedia applications. Exhaustive search along
with beamforming (BF) is usually used to overcome 60 GHz channel propagation
loss and accomplish data transmissions in such mmw WLANs. Because of its short
range transmission with a high susceptibility to path blocking, multiple number
of mmw access points (APs) should be used to fully cover a typical target
environment for future high capacity multi-Gbps WLANs. Therefore, coordination
among mmw APs is highly needed to overcome packet collisions resulting from
un-coordinated exhaustive search BF and to increase the total capacity of mmw
WLANs. In this paper, we firstly give the current status of mmw WLANs with our
developed WiGig AP prototype. Then, we highlight the great need for coordinated
transmissions among mmw APs as a key enabler for future high capacity mmw
WLANs. Two different types of coordinated mmw WLAN architecture are introduced.
One is the distributed antenna type architecture to realize centralized
coordination, while the other is an autonomous coordination with the assistance
of legacy Wi-Fi signaling. Moreover, two heterogeneous network (HetNet)
architectures are also introduced to efficiently extend the coordinated mmw
WLANs to be used for future 5th Generation (5G) cellular networks.Comment: 18 pages, 24 figures, accepted, invited paper
Collaborative signal and information processing for target detection with heterogeneous sensor networks
In this paper, an approach for target detection and acquisition with heterogeneous sensor networks through strategic resource allocation and coordination is presented. Based on sensor management and collaborative signal and information processing, low-capacity low-cost sensors are strategically deployed to guide and cue scarce high performance sensors in the network to improve the data quality, with which the mission is eventually completed more efficiently with lower cost. We focus on the problem of designing such a network system in which issues of resource selection and allocation, system behaviour and capacity, target behaviour and patterns, the environment, and multiple constraints such as the cost must be addressed simultaneously. Simulation results offer significant insight into sensor selection and network operation, and demonstrate the great benefits introduced by guided search in an application of hunting down and capturing hostile vehicles on the battlefield
Unmanned Aerial Vehicle Tracking System with Out-Of-Sequence Measurement in a Discrete Time-Delayed Extended Kalman Filter
The goal of this thesis is to extend the delayed Kalman filter so it can be used with non-linear systems and that it can handle randomized delays on the measurements. In the particular case of this study, the filter is used to estimates the states of an unmanned aerial system. The outputs of the filter are used to point an antenna and a camera towards a UAS. Different scenarios are simulated for the purpose of comparing the efficiency of this technique in various situations
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