Two-Level Robust Weighted Measurement Fusion Kalman Filter over Clustering Sensor Network with Uncertain Noise Variances

摘要

Applying the Lyapunov equation method, this paper presents a robust weighted measurement fusion Kalman filter over clustering sensor network with uncertain noise variances, which can significantly reduce the communicational load and save energy when the number of sensors is very large. Its robust accuracy is equal to that of the global centralized robust Kalman fuser or the two-level centralized Kalman fuser, and is higher than those of each local robust Kalman filter and each local robust weighted measurement Kalman fuser. One simulation example is given to verify its effectiveness and correctness.