Distributed Kalman Filtering for Range

only Radio NetworksSanjiban Choudhury

Radio Nodes

Path

Problem Framework

Start

Stop

The Extended Information Filter

State and Covariance PredictionInformation Vector, Covariance and Measurement

Information Update Reverting to original form for state and covariance update

Data can be asynchronous, grid may not be fully connected

E. Nettleton, H. Durrant-Whyte, P. Gibbens, and A. Goktoˇgan. Multiple platform localisation and map building. In G.T. McKee and P.S. Schenker, editors, Sensor Fusion and Decentralised Control in Robotic Stystems III, volume 4196, pages 337–347, Bellingham, 2000.

The Extended Information Filter

State and Covariance PredictionInformation Vector, Covariance and Measurement

Information Update Reverting to original form for state and covariance update

Data can be asynchronous, grid may not be fully connected

E. Nettleton, H. Durrant-Whyte, P. Gibbens, and A. Goktoˇgan. Multiple platform localisation and map building. In G.T. McKee and P.S. Schenker, editors, Sensor Fusion and Decentralised Control in Robotic Stystems III, volume 4196, pages 337–347, Bellingham, 2000.

The Extended Information Filter

State and Covariance PredictionInformation Vector, Covariance and Measurement

Information Update Reverting to original form for state and covariance update

Data can be asynchronous, grid may not be fully connected

E. Nettleton, H. Durrant-Whyte, P. Gibbens, and A. Goktoˇgan. Multiple platform localisation and map building. In G.T. McKee and P.S. Schenker, editors, Sensor Fusion and Decentralised Control in Robotic Stystems III, volume 4196, pages 337–347, Bellingham, 2000.

The Extended Information Filter

State and Covariance PredictionInformation Vector, Covariance and Measurement

Information Update Reverting to original form for state and covariance update

Data can be asynchronous, grid may not be fully connected

E. Nettleton, H. Durrant-Whyte, P. Gibbens, and A. Goktoˇgan. Multiple platform localisation and map building. In G.T. McKee and P.S. Schenker, editors, Sensor Fusion and Decentralised Control in Robotic Stystems III, volume 4196, pages 337–347, Bellingham, 2000.

Distributed EIF with consensus

x2x1

Tracking an object Consensus over time (red = consensus)

R. Olfati-Saber. Distributed Kalman filtering for sensor networks. In Proceedings of the 46th Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 5492–5498.

Distributed EIF with consensus

x2x1

Tracking an object Consensus over time (red = consensus)

R. Olfati-Saber. Distributed Kalman filtering for sensor networks. In Proceedings of the 46th Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 5492–5498.

Distributed EIF with consensus

x2x1

Tracking an object Consensus over time (red = consensus)

R. Olfati-Saber. Distributed Kalman filtering for sensor networks. In Proceedings of the 46th Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 5492–5498.

Distributed EIF with consensus

x2x1

Tracking an object Consensus over time (red = consensus)

R. Olfati-Saber. Distributed Kalman filtering for sensor networks. In Proceedings of the 46th Conference on Decision and Control, New Orleans, LA, USA, 2007, pp. 5492–5498.

Relative Over Parameterized EKF J. Djugash and S. Singh. A robust method of localization and mapping using only range. In International Symposium on Experimental Robotics,July 2008.

Relative Over Parameterized EKF J. Djugash and S. Singh. A robust method of localization and mapping using only range. In International Symposium on Experimental Robotics,July 2008.

The Distributed ROPEIF

DEIF

DROPEIF

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