传感器网络一致性分布式滤波算法-控制理论与应用.pdfVIP

29 12 Vol. 29 No. 12 2012 12 Control Theory Applications Dec. 2012 :2012 , , , ( , 210094) : , . , . , , . , , . : ; ; ; : TP13 : A Consensus-based distributed filtering algorithm in sensor networks WANG Chang-cheng, QI Guo-qing, LI Yin-ya, SHENG An-dong (School of Automation, Nanjing University of Science and Technology, Nanjing Jiangsu 210094, China) Abstract: To improve the estimation performances in distributed sensor networks, we propose a filtering algorithm based on state prediction consensus. On the basis of the consistent treatment of the local estimate, it updates the local predicted value by using the previous estimates of neighbors to improve the estimation accuracy. We propose a method for choosing the consensus gain, and present, by using the Lyapunov method, a sufficient condition for the convergence of the algorithm. Factors which may affect the convergence rate are discussed. A numerical example is given to illustrate the usefulness of the proposed algorithm. Nodes with high degrees play an important role in the filtering. By adjusting consensus coefficients of these nodes, we can improve estimation performances. Key words: consensus algorithm; Kalman filtering; sensor network; distributed estimation 1 (Introduction) , . 2009Olfati- Saber[12] , , , [1–3] , , . , , . Stankovic [13] , . [12], , . 2010