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Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury
Distributed Kalman Filtering for Range
only Radio NetworksSanjiban Choudhury
Radio Nodes
Path
Problem Framework
Start
Stop
The Extended Information Filter
State and Covariance PredictionInformation Vector, Covariance and Measurement
Information Update Reverting to original form for state and covariance update
Data can be asynchronous, grid may not be fully connected
E. Nettleton, H. Durrant-Whyte, P. Gibbens, and A. Goktoˇgan. Multiple platform localisation and map building. In G.T. McKee and P.S. Schenker, editors, Sensor Fusion and Decentralised Control in Robotic Stystems III, volume 4196, pages 337–347, Bellingham, 2000.
The Extended Information Filter
State and Covariance PredictionInformation Vector, Covariance and Measurement
Information Update Reverting to original form for state and covariance update
Data can be asynchronous, grid may not be fully connected
E. Nettleton, H. Durrant-Whyte, P. Gibbens, and A. Goktoˇgan. Multiple platform localisation and map building. In G.T. McKee and P.S. Schenker, editors, Sensor Fusion and Decentralised Control in Robotic Stystems III, volume 4196, pages 337–347, Bellingham, 2000.
The Extended Information Filter
State and Covariance PredictionInformation Vector, Covariance and Measurement
Information Update Reverting to original form for state and covariance update
Data can be asynchronous, grid may not be fully connected
E. Nettleton, H. Durrant-Whyte, P. Gibbens, and A. Goktoˇgan. Multiple platform localisation and map building. In G.T. McKee and P.S. Schenker, editors, Sensor Fusion and Decentralised Control in Robotic Stystems III, volume 4196, pages 337–347, Bellingham, 2000.
The Extended Information Filter
State and Covariance PredictionInformation Vector, Covariance and Measurement
Information Update Reverting to original form for state and covariance update
Data can be asynchronous, grid may not be fully connected
E. Nettleton, H. Durrant-Whyte, P. Gibbens, and A. Goktoˇgan. Multiple platform localisation and map building. In G.T. McKee and P.S. Schenker, editors, Sensor Fusion and Decentralised Control in Robotic Stystems III, volume 4196, pages 337–347, Bellingham, 2000.
Distributed EIF with consensus
x2x1
Tracking an object Consensus over time (red = consensus)
R. Olfati-Saber. Distributed Kalman filtering for sensor networks. In Proceedings of the 46th Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 5492–5498.
Distributed EIF with consensus
x2x1
Tracking an object Consensus over time (red = consensus)
R. Olfati-Saber. Distributed Kalman filtering for sensor networks. In Proceedings of the 46th Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 5492–5498.
Distributed EIF with consensus
x2x1
Tracking an object Consensus over time (red = consensus)
R. Olfati-Saber. Distributed Kalman filtering for sensor networks. In Proceedings of the 46th Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 5492–5498.
Distributed EIF with consensus
x2x1
Tracking an object Consensus over time (red = consensus)
R. Olfati-Saber. Distributed Kalman filtering for sensor networks. In Proceedings of the 46th Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 5492–5498.
Relative Over Parameterized EKF J. Djugash and S. Singh. A robust method of localization and mapping using only range. In International Symposium on Experimental Robotics,July 2008.
Relative Over Parameterized EKF J. Djugash and S. Singh. A robust method of localization and mapping using only range. In International Symposium on Experimental Robotics,July 2008.
The Distributed ROPEIF
DEIF
DROPEIF
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