带丢包一致性卡尔曼滤波算法优化_卢小萍.pdfVIP

第 43 卷第 9 期 中南大学学报( 自然科学版) Vol.43 No.9 2012 年 9 月 Journal of Central South University (Science and Technology) Sep. 2012 带丢包一致性卡尔曼滤波算法优化 卢小萍，杨文，侍洪波 (华东理工大学 信息科学与工程学院，上海，200237) 摘要：针对无线传感网络在实际应用中存在的丢包问题，以最小化均方估计误差为目标，提出一种带丢包的最优 一致滤波算法，对收敛性进行初步分析。应用数值仿真验证算法的稳定性，并与已有的经典滤波算法进行比较； 当网络拓扑结构固定时，比较最优一致滤波算法与已有经典算法分别在系统稳定和不稳定状态下的估计性能；研 究网络拓扑结构对算法的影响。研究结果表明：随着通信半径增大，算法估计精度越高。 关键词： 分布式滤波；一致性；卡尔曼滤波；传感器网络；网络丢包 中图分类号：TP393 文献标志码：A 文章编号：1672−7207(2012)09−3502−08 Optimized algorithm of consensus-based Kalman filtering with packet-dropping LU Xiao-ping, YANG Wen, SHI Hong-bo (School of Information Science Engineering, East China University of Science and Technology, Shanghai 200237, China) Abstract: Considering the problem of packet-dropping in wireless sensor network (WSN), and to minimize the mean squared estimation error, an optimal consensus-based Kalman filtering algorithm with packet-dropping was proposed, and the convergence property of the algorithm was analyzed. The proposed algorithm was verified by numerical simulations. Firstly, the stability of the algorithm was compared with the existed classical filtering algorithms; Secondly, the proposed algorithm was compared with the mentioned classical filtering algorithm for stable and unstable system, respectively. Thirdly, the influence of network topology on the convergence properties was studied. The simulation results show that the estimation accuracy decreases with the increase of the communication radius. Key words: distributed