9,347 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
Three-axis attitude determination via Kalman filtering of magnetometer data
A three-axis Magnetometer/Kalman Filter attitude determination system for a spacecraft in low-altitude Earth orbit is developed, analyzed, and simulation tested. The motivation for developing this system is to achieve light weight and low cost for an attitude determination system. The extended Kalman filter estimates the attitude, attitude rates, and constant disturbance torques. Accuracy near that of the International Geomagnetic Reference Field model is achieved. Covariance computation and simulation testing demonstrate the filter's accuracy. One test case, a gravity-gradient stabilized spacecraft with a pitch momentum wheel and a magnetically-anchored damper, is a real satellite on which this attitude determination system will be used. The application to a nadir pointing satellite and the estimation of disturbance torques represent the significant extensions contributed by this paper. Beyond its usefulness purely for attitude determination, this system could be used as part of a low-cost three-axis attitude stabilization system
First stage of LISA data processing II: Alternative filtering dynamic models for LISA
Space-borne gravitational wave detectors, such as (e)LISA, are designed to
operate in the low-frequency band (mHz to Hz), where there is a variety of
gravitational wave sources of great scientific value. To achieve the
extraordinary sensitivity of these detector, the precise synchronization of the
clocks on the separate spacecraft and the accurate determination of the
interspacecraft distances are important ingredients. In our previous paper
(Phys. Rev. D 90, 064016 [2014]), we have described a hybrid-extend Kalman
filter with a full state vector to do this job. In this paper, we explore
several different state vectors and their corresponding (phenomenological)
dynamic models, to reduce the redundancy in the full state vector, to
accelerate the algorithm, and to make the algorithm easily extendable to more
complicated scenarios.Comment: 12 page
A Contraction Analysis of the Convergence of Risk-Sensitive Filters
A contraction analysis of risk-sensitive Riccati equations is proposed. When
the state-space model is reachable and observable, a block-update
implementation of the risk-sensitive filter is used to show that the N-fold
composition of the Riccati map is strictly contractive with respect to the
Riemannian metric of positive definite matrices, when N is larger than the
number of states. The range of values of the risk-sensitivity parameter for
which the map remains contractive can be estimated a priori. It is also found
that a second condition must be imposed on the risk-sensitivity parameter and
on the initial error variance to ensure that the solution of the risk-sensitive
Riccati equation remains positive definite at all times. The two conditions
obtained can be viewed as extending to the multivariable case an earlier
analysis of Whittle for the scalar case.Comment: 22 pages, 6 figure
- …