Decentralized State Estimation for Networked Navigation Systems with Communication Delay and Packet Loss: The Receding Horizon Case

摘要

The paper deals with the problem of state estimation for a class of navigation-oriented carriers within navigation carrier ad-hoc networks (NC-NET): the state evolves according to a linear discrete-time model subject to communication delay and packet loss. A decentralized estimation scheme is designed mainly based on the receding horizon estimation concept. Hereinto, the communication delay and packet loss are modeled in a uniform Markov process. Also, the approach through the reorganization of measurements is comprised to preprocess the delay-affect observations. Finally, an illustrative example is given to demonstrate the effectiveness of the proposed scheme.