Decentralized Navigational State Estimation for Networked Multiple Vehicles Subject to Limited Data Rate

摘要

In this paper, a decentralized receding horizon fusion strategy (DRHF), mainly based on cooperative packets and relative observations, is proposed for navigational state estimation problems of networked vehicles: a class of linear discrete-time systems with limited data rate. The resulting min-max problem is solved by recursive scheme, which is suitable for recursive computation in online applications. The convergence properties of the optimal estimator are also studied. Finally, an illustrative example of networked UAVs is given to demonstrate the main features of the proposed estimator design approach.