多智能体系统中一致性卡尔曼滤波的研究进展

摘要

Recent development of the distributed Kalman filtering using the consensus method was addressed. The concept, convergence and performance analysis of consensus problems in multi-agent systems were introduced, and several aspects of the consensus-based Kalman filtering were discussed in details, including filter construction based on local communication, information weighting and parameter optimization. Finally, some frontiers of the research on the consensus method, such as information loss, quantized consensus and stochastic asynchronous algorithms, were briefly discussed to promote the related research.%从多智能体系统中一致性问题的基本概念、算法收敛性和性能分析出发,总结了基于一致性方法的分布式卡尔曼滤波的研究进展.从基于局部通讯的滤波器构造方法、信息加权和滤波器参数优化等方面对研究现状进行了评述.最后,讨论了信息损失、量化一致性和随机异步算法等前沿问题,以期促进相关研究.