Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.
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Transcript of Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.
![Page 1: Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.](https://reader035.fdocuments.in/reader035/viewer/2022081603/5697bf7b1a28abf838c83bb2/html5/thumbnails/1.jpg)
Distributed Kalman Filtering for Range
only Radio NetworksSanjiban Choudhury
![Page 2: Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.](https://reader035.fdocuments.in/reader035/viewer/2022081603/5697bf7b1a28abf838c83bb2/html5/thumbnails/2.jpg)
Radio Nodes
Path
Problem Framework
Start
Stop
![Page 3: Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.](https://reader035.fdocuments.in/reader035/viewer/2022081603/5697bf7b1a28abf838c83bb2/html5/thumbnails/3.jpg)
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.
![Page 4: Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.](https://reader035.fdocuments.in/reader035/viewer/2022081603/5697bf7b1a28abf838c83bb2/html5/thumbnails/4.jpg)
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.
![Page 5: Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.](https://reader035.fdocuments.in/reader035/viewer/2022081603/5697bf7b1a28abf838c83bb2/html5/thumbnails/5.jpg)
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.
![Page 6: Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.](https://reader035.fdocuments.in/reader035/viewer/2022081603/5697bf7b1a28abf838c83bb2/html5/thumbnails/6.jpg)
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.
![Page 7: Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.](https://reader035.fdocuments.in/reader035/viewer/2022081603/5697bf7b1a28abf838c83bb2/html5/thumbnails/7.jpg)
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.
![Page 8: Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.](https://reader035.fdocuments.in/reader035/viewer/2022081603/5697bf7b1a28abf838c83bb2/html5/thumbnails/8.jpg)
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.
![Page 9: Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.](https://reader035.fdocuments.in/reader035/viewer/2022081603/5697bf7b1a28abf838c83bb2/html5/thumbnails/9.jpg)
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.
![Page 10: Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.](https://reader035.fdocuments.in/reader035/viewer/2022081603/5697bf7b1a28abf838c83bb2/html5/thumbnails/10.jpg)
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.
![Page 11: Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.](https://reader035.fdocuments.in/reader035/viewer/2022081603/5697bf7b1a28abf838c83bb2/html5/thumbnails/11.jpg)
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.
![Page 12: Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.](https://reader035.fdocuments.in/reader035/viewer/2022081603/5697bf7b1a28abf838c83bb2/html5/thumbnails/12.jpg)
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.
![Page 13: Distributed Kalman Filtering for Range only Radio Networks Sanjiban Choudhury.](https://reader035.fdocuments.in/reader035/viewer/2022081603/5697bf7b1a28abf838c83bb2/html5/thumbnails/13.jpg)
The Distributed ROPEIF
DEIF
DROPEIF
Err
or
(m)
Err
or
(m)
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PerformanceTra
ckin
g e
rror
Tra
ckin
g e
rror