Distributed particle filter method based on information consistency
A particle filtering and consistency technology, applied in impedance networks, adaptive networks, electrical components, etc., can solve the problem of not considering the limited observation of sensor network nodes, and achieve reduced network communication overhead, high estimation accuracy and robustness. Robustness, guaranteeing the effect of estimated performance
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[0015] The present invention will be described in further detail below in conjunction with the accompanying drawings. Referring to the accompanying drawings of the description, the single cycle method of the target status update of the present invention is divided into the following steps:
[0016] 1. Problem description
[0017] Without loss of generality, consider the following discrete-time nonlinear non-Gaussian system
[0018] x k =f(x k-1 )+w k-1 (1)
[0019] z i,k = h i (x k )+v i,k ,i=1,2,...,N S (2)
[0020] where x k and z i,k represent the state vector of the system and the measurement vector of the i-th sensor respectively, N S Indicates the number of sensor nodes, f and h i Denote the transfer function of the system and the measurement function of the i-th sensor respectively, w k with v i,k are non-Gaussian process noise and non-Gaussian measurement noise, respectively.
[0021] In practical applications, non-Gaussian noise i...
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