Distributed Kalman Filters over Wireless Sensor Networks: Data Fusion, Consensus, and Time-Varying Topologies

Kalman filtering is a widely used recursive algorithm for optimal state estimation of linear stochastic dynamic systems. The recent advances of wireless sensor networks (WSNs) provide the technology to monitor and control physical processes with a high degree of temporal and spatial granularity. Several important problems concerning Kalman filtering over WSNs are addressed in this dissertation. First we study data fusion Kalman filtering for discrete-time linear time-invariant (LTI) systems over WSNs, assuming the existence of a data fusion center that receives observations from distributed sensor nodes and estimates the state of the target system in the presence of data packet drops. We focus on the single sensor node case and show that the critical data arrival rate of the Bernoulli channel can be computed by solving a simple linear matrix inequality problem. Then a more general scenario is considered where multiple sensor nodes are employed. We derive the stationary Kalman filter that minimizes the average error variance under a TCP-like protocol. The stability margin is adopted to tackle the stability issue. Second we study distributed Kalman filtering for LTI systems over WSNs, where each sensor node is required to locally estimate the state in a collaborative manner with its neighbors in the presence of data packet drops. The stationary distributed Kalman filter (DKF) that minimizes the local average error variance is derived. Building on the stationary DKF, we propose Kalman consensus filter for the consensus of different local estimates. The upper bound for the consensus coefficient is computed to ensure the mean square stability of the error dynamics. Finally we focus on time-varying topology. The solution to state consensus control for discrete-time homogeneous multi-agent systems over deterministic time-varying feedback topology is provided, generalizing the existing results. Then we study distributed state estimation over WSNs with time-varying communication topology. Under the uniform observability, each sensor node can closely track the dynamic state by using only its own observation, plus information exchanged with its neighbors, and carrying out local computation

Linear filtering of systems with memory

We study the linear filtering problem for systems driven by continuous Gaussian processes with memory described by two parameters. The driving processes have the virtue that they possess stationary increments and simple semimartingale representations simultaneously. It allows for straightforward parameter estimations. After giving the semimartingale representations of the processes by innovation theory, we derive Kalman-Bucy-type filtering equations for the systems. We apply the result to the optimal portfolio problem for an investor with partial observations. We illustrate the tractability of the filtering algorithm by numerical implementations.Comment: Full names are use

Forecasting trends with asset prices

In this paper, we consider a stochastic asset price model where the trend is an unobservable Ornstein Uhlenbeck process. We first review some classical results from Kalman filtering. Expectedly, the choice of the parameters is crucial to put it into practice. For this purpose, we obtain the likelihood in closed form, and provide two on-line computations of this function. Then, we investigate the asymptotic behaviour of statistical estimators. Finally, we quantify the effect of a bad calibration with the continuous time mis-specified Kalman filter. Numerical examples illustrate the difficulty of trend forecasting in financial time series.Comment: 26 pages, 11 figure

Effects of Multirate Systems on the Statistical Properties of Random Signals

In multirate digital signal processing, we often encounter time-varying linear systems such as decimators, interpolators, and modulators. In many applications, these building blocks are interconnected with linear filters to form more complicated systems. It is often necessary to understand the way in which the statistical behavior of a signal changes as it passes through such systems. While some issues in this context have an obvious answer, the analysis becomes more involved with complicated interconnections. For example, consider this question: if we pass a cyclostationary signal with period K through a fractional sampling rate-changing device (implemented with an interpolator, a nonideal low-pass filter and a decimator), what can we say about the statistical properties of the output? How does the behavior change if the filter is replaced by an ideal low-pass filter? In this paper, we answer questions of this nature. As an application, we consider a new adaptive filtering structure, which is well suited for the identification of band-limited channels. This structure exploits the band-limited nature of the channel, and embeds the adaptive filter into a multirate system. The advantages are that the adaptive filter has a smaller length, and the adaptation as well as the filtering are performed at a lower rate. Using the theory developed in this paper, we show that a matrix adaptive filter (dimension determined by the decimator and interpolator) gives better performance in terms of lower error energy at convergence than a traditional adaptive filter. Even though matrix adaptive filters are, in general, computationally more expensive, they offer a performance bound that can be used as a yardstick to judge more practical "scalar multirate adaptation" schemes