Estimation Diversity and Energy Efficiency in Distributed Sensing

Distributed estimation based on measurements from multiple wireless sensors is investigated. It is assumed that a group of sensors observe the same quantity in independent additive observation noises with possibly different variances. The observations are transmitted using amplify-and-forward (analog) transmissions over non-ideal fading wireless channels from the sensors to a fusion center, where they are combined to generate an estimate of the observed quantity. Assuming that the Best Linear Unbiased Estimator (BLUE) is used by the fusion center, the equal-power transmission strategy is first discussed, where the system performance is analyzed by introducing the concept of estimation outage and estimation diversity, and it is shown that there is an achievable diversity gain on the order of the number of sensors. The optimal power allocation strategies are then considered for two cases: minimum distortion under power constraints; and minimum power under distortion constraints. In the first case, it is shown that by turning off bad sensors, i.e., sensors with bad channels and bad observation quality, adaptive power gain can be achieved without sacrificing diversity gain. Here, the adaptive power gain is similar to the array gain achieved in Multiple-Input Single-Output (MISO) multi-antenna systems when channel conditions are known to the transmitter. In the second case, the sum power is minimized under zero-outage estimation distortion constraint, and some related energy efficiency issues in sensor networks are discussed.Comment: To appear at IEEE Transactions on Signal Processin

Extended Object Tracking: Introduction, Overview and Applications

This article provides an elaborate overview of current research in extended object tracking. We provide a clear definition of the extended object tracking problem and discuss its delimitation to other types of object tracking. Next, different aspects of extended object modelling are extensively discussed. Subsequently, we give a tutorial introduction to two basic and well used extended object tracking approaches - the random matrix approach and the Kalman filter-based approach for star-convex shapes. The next part treats the tracking of multiple extended objects and elaborates how the large number of feasible association hypotheses can be tackled using both Random Finite Set (RFS) and Non-RFS multi-object trackers. The article concludes with a summary of current applications, where four example applications involving camera, X-band radar, light detection and ranging (lidar), red-green-blue-depth (RGB-D) sensors are highlighted.Comment: 30 pages, 19 figure

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

Multisensor Poisson Multi-Bernoulli Filter for Joint Target-Sensor State Tracking

In a typical multitarget tracking (MTT) scenario, the sensor state is either assumed known, or tracking is performed in the sensor's (relative) coordinate frame. This assumption does not hold when the sensor, e.g., an automotive radar, is mounted on a vehicle, and the target state should be represented in a global (absolute) coordinate frame. Then it is important to consider the uncertain location of the vehicle on which the sensor is mounted for MTT. In this paper, we present a multisensor low complexity Poisson multi-Bernoulli MTT filter, which jointly tracks the uncertain vehicle state and target states. Measurements collected by different sensors mounted on multiple vehicles with varying location uncertainty are incorporated sequentially based on the arrival of new sensor measurements. In doing so, targets observed from a sensor mounted on a well-localized vehicle reduce the state uncertainty of other poorly localized vehicles, provided that a common non-empty subset of targets is observed. A low complexity filter is obtained by approximations of the joint sensor-feature state density minimizing the Kullback-Leibler divergence (KLD). Results from synthetic as well as experimental measurement data, collected in a vehicle driving scenario, demonstrate the performance benefits of joint vehicle-target state tracking.Comment: 13 pages, 7 figure