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A Novel Linear, Unbiased Estimator to Fuse Delayed Measurements in Distributed Sensor Networks with Application to UAV Fleet

  • Conference paper
Advances in Estimation, Navigation, and Spacecraft Control (ENCS 2012)

Abstract

This paper proposes a novel methodology to fuse delayed measurements in a distributed sensor network. The algorithm derives from the linear minimum mean square error estimator and yields a linear, unbiased estimator that fuses the delayed measurements. Its performance regarding the estimation accuracy, computational workload and memory storage needs is compared to the classical Kalman filter reiteration that achieves the minimum mean square error in linear and Gaussian systems. The comparison is carried out using a simulated distributed sensor network that consists of a UAV fleet in formation flight in which the GPS measurements and relative positions are exchanged among neighboring network nodes. The novel technique yields similar performance to the reiterated Kalman filtering, which is the optimal linear Gaussian solution, while demanding less storage capacity and computational throughput in the problems of interest.

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Authors and Affiliations

  1. Instituto Tecnológico de Aeronáutica, São José dos Campos, São Paulo, SP, 12.228-900, Brazil

    Ronan Arraes Jardim Chagas & Jacques Waldmann

Authors
  1. Ronan Arraes Jardim Chagas
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  2. Jacques Waldmann
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Correspondence to Ronan Arraes Jardim Chagas .

Editor information

Editors and Affiliations

  1. Mechanical Engineering Department, Ben-Gurion University of the Negev, Beer Sheva, Israel

    Daniel Choukroun

  2. Faculty of Aerospace Engineering, Technion - Israel Institute of Technology, Haifa, Israel

    Yaakov Oshman

  3. NASA Goddard Space Flight Center, Greenbelt, USA

    Julie Thienel

  4. Faculty of Aerospace Engineering, Technion - Israel Institute of Technology, Haifa, Israel

    Moshe Idan

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Chagas, R.A.J., Waldmann, J. (2015). A Novel Linear, Unbiased Estimator to Fuse Delayed Measurements in Distributed Sensor Networks with Application to UAV Fleet. In: Choukroun, D., Oshman, Y., Thienel, J., Idan, M. (eds) Advances in Estimation, Navigation, and Spacecraft Control. ENCS 2012. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44785-7_8

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  • DOI: https://doi.org/10.1007/978-3-662-44785-7_8

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-662-44784-0

  • Online ISBN: 978-3-662-44785-7

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