コンセンサスと共分散交差を組み合わせた分散状態推定
Decentralized State Estimation via a Hybrid of Consensus and Covariance intersection
ネットワーク型の分散状態推定において、事前分布の統合に共分散交差、新情報の統合にメトロポリス・ヘイスティングス重みを用いる再帰的コンセンサスフィルタを提案し、大気拡散問題で有効性を示した。
著者: Amirhossein Tamjidi, Suman Chakravorty, Dylan Shell
分類: eess.SY, cs.RO, cs.SY
原文アブストラクト
This paper presents a new recursive information consensus filter for decentralized dynamic-state estimation. No structure is assumed about the topology of the network and local estimators are assumed to have access only to local information. The network need not be connected at all times. Consensus over priors which might become correlated is performed through Covariance Intersection (CI) and consensus over new information is handled using weights based on a Metropolis Hastings Markov Chains. We establish bounds for estimation performance and show that our method produces unbiased conservative estimates that are better than CI. The performance of the proposed method is evaluated and compared with competing algorithms on an atmospheric dispersion problem.
