Cooperative Fusion for Distributed Estimation of Target Position in Heterogeneous Networks with Communication Delays

摘要

In this paper, distributed estimation of the target position in heterogeneous sensor networks has been considered when the communication between the nodes in the sensor network may involve delays. Each node in the network employs a micro-filter, which estimates the target position merely by using its own measurements. Then, the nodes share their estimations and their accuracies with their neighbors. An algorithm has been proposed to fuse the delayed neighboring information at each node and to compute the distributed estimation of the target position. The proposed method guarantees that the distributed estimation error is zero-mean. It also provides the estimation error covariance at each node. Moreover, simulation results are presented to demonstrate the effectiveness of the proposed method.