基于节点通信度的信息加权一致性滤波

doi:10.3969/j.issn.1001-506X.2020.10.05

Abstract

Abstract:

Collaborative target tracking is one of the most typical applications of multi-sensor network including unmanned aerial vehicle swarm. In the process of target tracking in distributed sensor network, the consensus of target state estimation directly affect the tracking effectiveness. Aiming at the problem of limited consensus iteration number among network nodes in the process of target tracking, an information weighted consensus filtering algorithm based on node communication degree is proposed. The node communication degree is designed to fully measure the communication topology of sensor nodes in the network. And then, a selection mechanism of asymmetric consensus weights is constructed to achieve fast consensus tracking in the complex topology network structure. It is verified by the simulation of typical target tracking scene, compared with the classical information weighted consensus filtering algorithm, the proposed algorithm reduces the degree of disagreements of target tracking by more than 20%, and effectively improves the consensus speed of distributed tracking.

Key words: distributed sensor network, target tracking, consensus estimation, communication topology, node communication degree

CLC Number:

TP391

Ziran DING, Yu LIU, Jianyue QU, Qiaowen JIANG, Tao JIAN. Information weighted consensus filter algorithm based on node communication degree[J]. Systems Engineering and Electronics, 2020, 42(10): 2181-2188.

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References 25

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算法	位置ARMSE	速度ARMSE	不一致程度
IWCF	147.899 6	16.542 5	25.217 2
CD-IWCF	145.744 0	16.442 7	21.569 4

算法	位置ARMSE	速度ARMSE	不一致程度
IWCF	143.020 2	16.314 2	9.431 4
CD-IWCF	140.815 7	16.199 6	6.584 7

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Information weighted consensus filter algorithm based on node communication degree

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