Journal
IEEE TRANSACTIONS ON SIGNAL AND INFORMATION PROCESSING OVER NETWORKS
Volume 8, Issue -, Pages 433-444Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSIPN.2022.3175363
Keywords
Sensor networks; distributed Kalman filter; maximum correntropy; mean square stability
Funding
- National Key R&D Program of China [2021ZD0112700]
- National Natural Science Foundation of China [U21A20485, 61976175]
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In this study, we propose a new MCC based distributed Kalman filter to address the problem of non-Gaussian noises in distributed Kalman filtering (DKF). The proposed algorithm, named CI-DMCKF, improves the estimation performance compared to existing MCC based DKFs. Experimental results demonstrate the effectiveness of the proposed algorithm in a cooperating target tracking task.
We consider the distributed Kalman filtering (DKF) with non-Gaussian noises problem, where each sensor exchanges information between its neighbors with limited communication. Inspired by the ability to capture higher-order statistics of maximum correntropy criterion (MCC) to deal with non-Gaussian noises, we utilizes a matrix weight instead of a scalar obtained by MCC to improve the estimation performance comparing with existing MCC based DKFs. We approximate the centralized estimate by the covariance intersection method, and propose a new MCC based distributed Kalman filter, named CI-DMCKF. The proposed algo-rithm only needs to communicate once with neighbors in a sampling period, which is more efficient for low bandwidth communication than existing MCC based DKFs. Under the condition of global observability, we show that the consistency, stability, and asymptotic unbiasedness properties of proposed CI-DMCKF algorithm. Finally, we experimentally demonstrate the effectiveness of the proposed algorithm on a cooperating target tracking task.
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