robust distributed kalman filter for wireless sensor networks with uncertain communication channels健壮的分布式卡尔曼滤波器在无线传感器网络不确定的沟通渠道.pdf

Hindawi Publishing Corporation Mathematical Problems in Engineering Volume 2012, Article ID 238597, 12 pages doi:10.1155/2012/238597 Research Article Robust Distributed Kalman Filter for Wireless Sensor Networks with Uncertain Communication Channels Du Yong Kim and Moongu Jeon School of Information and Communication, Gwangju Institute of Science and Technology, Gwangju 500-712, Republic of Korea Correspondence should be addressed to Moongu Jeon, mgjeon@gist.ac.kr Received 28 November 2011; Revised 11 March 2012; Accepted 30 March 2012 Academic Editor: M. D. S. Aliyu Copyright q 2012 D. Y. Kim and M. Jeon. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. We address a state estimation problem over a large-scale sensor network with uncertain communication channel. Consensus protocol is usually used to adapt a large-scale sensor network. However, when certain parts of communication channels are broken down, the accuracy performance is seriously degraded. Specifically, outliers in the channel or temporal disconnection are avoided via proposed method for the practical implementation of the distributed estimation over large-scale sensor networks. We handle this practical challenge by using adaptive channel status estimator and robust L1-norm Kalman filter in design of the processor of the individual sensor node. Then, they are incorporated into the consensus algorithm in order to achieve the robust distributed state estimation. The robust property of the proposed algorithm enables the sensor network to selectively weight sensors of normal con