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distributed filtering for time-varying networked systems with sensor gain degradation and energy constraint: a centralized finite-time communication protocol scheme

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Science China(Information Sciences) 2018年第9期61卷 241-255页

作者： Ye ZHAO Xiao HE Donghua ZHOU National Laboratory for Information Science and Technology (TNList) and Department of Automation Tsinghua University College of Electrical Engineering and Automation Shandong University of Science and Technology

This paper focuses on the distributed filtering problem for a class of time-varying networked systems with sensor gain degradation and energy constrained communication protocol. To satisfy the requirement of power consumption and reduce the schedule computing complexity, centralized cyclic finite-time communication strategy optimization is taken into account. The networked system considered in this paper consists of spatially distributed sensors linked to their neighbor sensors, where each sensor node suffers from different gain degradation, and the transmission decisions of all the communication channels obey the centralized transmission schedule strategy identically. First, we present scattered communication action based on single-sensor transmission modeling with an energy constraint. Subsequently, an optimal communication protocol considering expected average error covariance is derived between the target system and each sensor node over the distributed sensor systems, based on a centralized finite-time scheme. Finally, by transforming the overall estimation error covariance of the systems at each sampling time into quadratic form, a conditionally unbiased least-square recursive distributed filtering technique over the networked system is designed at each sensor node. The system stability condition under such an optimal schedule is also accomplished with bounded covariance. A numerical example is provided to demonstrate the utility and effectiveness of the distributed filtering technique using the proposed optimized energy constrained communication protocol.

关键词： networked systems distributed filtering communication protocol centralized finite-time schedule energy constraint sensor gain degradation

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distributed filtering for a Class of Saturated Nonlinear Systems with Measurement Outliers

Distributed Filtering for a Class of Saturated Nonlinear Sys...

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第40届中国控制会议

作者： Jiaxing Li Jun Hu Zhihui Wu Jinpeng Huang Zhipeng Cao Department of Mathematics Harbin University of Science and Technology Heilongjiang Provincial Key Laboratory of Optimization Control and Intelligent Analysis for Complex Systems Harbin University of Science and Technology

This paper addresses a distributed filtering problem for saturated systems over sensor network with measurement outliers, where the multiplicative noises are used to characterize the internal behaviors of system model. A χ detection is first constructed in the distributed filter to detect and remove the outliers existing in the measurement outputs caused by some external environment disturbances or malicious attacks. Moreover, the innovation sequence is applied to design filter as a compensation term. The objective of this paper is to find a locally optimal distributed filter such that, for both the measurement outliers and multiplicative noises, an upper bound of filtering error covariance is given and then a proper filter gain is derived to minimize the obtained upper bound matrix with the help of the matrix analysis theory and the probability knowledge. Finally, a numerical experiment is proposed to verify the validity of the designed distributed filtering algorithm.

关键词： distributed filtering Sensor network Measurement outliers Multiplicative noises State-saturated systems

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Boundedness Analysis of Fully distributed Event-Based filtering

Boundedness Analysis of Fully Distributed Event-Based Filter...

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第43届中国控制会议

作者： Jiachen Qian Zhisheng Duan Xilian Zhang State Key Laboratory for Turbulence and Complex Systems Department of Mechanics and Engineering ScienceCollege of EngineeringPeking University

This paper focuses on event-based distributed filtering problem for a discrete LTI system,where the data-scheduler can regulate the communication between the smart sensor and the estimator to balance a tradeoff between communication cost and filtering *** paper aims to combine the framework of consensuson-information-based distributed filtering(CIDF) and the theory of harmonic-coupled algebraic Riccati equations(HCRE) to accurately evaluate the performance of eventbased distributed *** is shown that the performance of the event-based distributed filter can be uniformly bounded by the solutions to harmonic-coupled algebraic Riccati equations,only with the collective observability condition and primitivity of the adjacency matrix corresponding to the communication ***,the upper bound of the communication rate is also proposed in the form of the solutions to HCRE,which is more specific compared with the ***,the correctness of the theoretical results is demonstrated by several comparative numerical examples.

关键词： distributed filtering event triggered communication information fusion Riccati Equations

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distributed Variance-Constrained filtering for Time-Varying Systems with Multiplicative Noises and Randomly Occurring Nonlinearities over Sensor Networks

Distributed Variance-Constrained Filtering for Time-Varying ...

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第30届中国控制与决策会议

作者： Zhigong Wang Dongyan Chen Jun Hu Department of Applied Mathematics Harbin University of Science and Technology School of Engineering University of South Wales

This paper is concerned with distributed variance-constrained filtering problem for a class of time-varying systems and multiplicative noises and randomly occurring nonlinearities. The target plant is disturbed by the multiplicative noises as well as additive noises. By fully taking the network topology structure into account, the available measurements collected by each sensor node and its adjacent sensor node are used when designing the recursive *** is focused on the design of a distributed variance-constrained filtering algorithm such that, in the simultaneous presence of multiplicative noises and randomly occurring nonlinearities, an upper bound of the filtering error covariance is obtained in terms of the solutions to two Riccati-like difference equations. Furthermore, the filter parameters are designed to minimize the obtained upper bound by utilizing a novel matrix simplification technique. Finally, a numerical simulation is utilized to demonstrate the effectiveness of the proposed distributed filtering scheme.

关键词： Time-Varying Systems Sensor Networks distributed filtering Multiplicative Noises Randomly Occurring Nonlinearities

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Event-Triggered distributed Extended Kalman filtering with Randomly Occurring Deception Attack: A Variance-Constrained Approach

Event-Triggered Distributed Extended Kalman Filtering with R...

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第37届中国控制会议

作者： Weihao Song Jianan Wang Jiayuan Shan Housheng Su School of Aerospace Engineering Beijing Institute of Technology School of Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology

In this paper, a distributed extended Kalman filtering algorithm is developed for a class of discrete-time nonlinear systems subject to stochastic disturbances and randomly occurring deception attacks. In order to utilize the limited communication and computation resources efficiently, the event-triggered communication scheme is introduced such that data transmission is executed only when the predefined condition is violated. Furthermore, a set of independent Bernoulli random variables with known statistical properties is defined to characterize the phenomenon of randomly occurring deception attacks. An upper bound for the estimation error covariance considering the event-triggered meachanism and linearization errors is derived via the varianceconstrained approach. The filter gain for each node can be calculated recursively by solving two Raccati-like difference equations to minimize such an upper bound, which is suitable for online application. Finally, an illustrative example is presented to verify the feasibility and effectiveness of the proposed algorithm.

关键词： distributed filtering Event-triggered scheme Deception attacks Variance constraints

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distributed Kalman filter for UWB/INS integrated pedestrian localization under colored measurement noise

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Satellite Navigation 2021年第1期2卷 305-314页

作者： Yuan Xu Jing Cao Yuriy SShmaliy Yuan Zhuang School of Electrical Engineering University of JinanJinanChina Department of Electronics Engineering Universidad de GuanajuatoSalamancaMexico State Key Laboratory of Information Engineering in Surveying Mapping and Remote SensingWuhan UniversityWuhanChina Shandong Beiming Medical Technology Co. LtdJinanChina.

Colored Measurement Noise(CMN)has a great impact on the accuracy of human localization in indoor environments with Inertial Navigation System(INS)integrated with Ultra Wide Band(UWB).To mitigate its influence,a distributed Kalman Filter(dKF)is developed for Gauss-Markov CMN with switching Colouredness Factor Matrix(CFM).In the proposed scheme,a data fusion filter employs the difference between the INS-and UWB-based distance *** main filter produces a final optimal estimate of the human position by fusing the estimates from local *** effect of CMN is overcome by using measurement differencing of noisy *** tests show that the proposed dKF developed for CMN with CFM can reduce the localization error compared to the original dKF,and thus effectively improve the localization accuracy.

关键词： distributed filtering Kalman filter Colored measurement noise Human localization

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A distributed UKF Method Based on Improved Joint Probability Data Association 36

A Distributed UKF Method Based on Improved Joint Probability...

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第36届中国控制会议

作者： Ning Li Zi Zhang Di An College of Automation Harbin Engineering University Tianjin Navigation Instrument Research Institute

ISBN: (纸本)9781538629185

In this paper,a distributed Unscented Kalman Filter method（UKF） based on improved joint probabilistic data association（IJPDA） is proposed to solve the problem of nonlinear state estimation on multi-sensor multi-target ***,IJPDA method is introduced which determines the source of the multi-sensor data to simplify calculation *** the distributed UKF algorithm is presented accordingly based on the proposed IJPDA（UKF-IJPDA）.Simulations are performed on multiple targets tracking and the results show that the proposed distributed UKF-IJPDA method has lower computational complexity while providing higher accuracy compared with the distributed UKF method based on joint probabilistic data association.

关键词： distributed filtering multi-sensor multi-target tracking joint probabilistic data association(JPDA) UKF

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Adaptive Event-triggered Robust filtering over Sensor Networks with Markov Switching Topologies

Adaptive Event-triggered Robust Filtering over Sensor Networ...

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第32届中国控制与决策会议

作者： Fengzeng Zhu Xu Liu Li Peng Research Center of Engineering Applications for IOT Jiangnan University Jiangsu Province Internet of Things Application Technology Key Construction Laboratory Wuxi Taihu College

This paper studies the problem of robust state estimation for a class of filter networks based on adaptive event-triggered ***,the adaptive trigger mechanism is introduced to reduce the communication burden of the filter ***,Markov chain is used to describe the random switching of filter network *** purpose of this paper is to obtain a distributed full-order filter under the condition of linear matrix inequalities(LMIs),which ensure the filtering dynamic system exponentially mean square stable under the given l-l performance ***,the effectiveness and flexibility of the design method are verified by a simulation example.

关键词： Sensor networks Switching topology Adaptive event-triggered distributed filtering

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distributed Non-Fragile State Estimation for discrete nonlinear systems with parameter uncertainties

Distributed Non-Fragile State Estimation for discrete nonlin...

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第40届中国控制会议

作者： Ping Xu Huaiyu Wu Xiujuan Zheng Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

The distributed non-fragile state estimation problem is proposed for a class of discrete nonlinear systems with parameter uncertainties. Considering the parameter uncertainty of the system and the stochastic disturbance of the corresponding filter gain, a distributed non-fragile recursive state estimator is designed. Based on the strategy of linear consensus, a distributed non-fragile recursive filter is derived for each sensor node. Due to some uncertain parameters of the system, the upper bound of the filter error covariance is further derived. Then, the filter gain is obtained by minimizing the upper bound of the error covariance. Finally, an indoor localization system for mobile robots is provided to verify the proposed state estimator.

关键词： Non-fragile state estimation distributed filtering parameter uncertainties wireless sensor network

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Fusion filtering for Stochastic Systems with Correlated Noises and Deception Attacks

Fusion Filtering for Stochastic Systems with Correlated Nois...

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第40届中国控制会议

作者： Tian Tian Shuli Sun Honglei Lin Department of Automation Heilongjiang University

This paper is concerned with fusion filtering problem for a class of stochastic systems subject to both correlated noises and deception *** system noise and measurement noises of different sensors are cross-correlated at the same time *** the data transmission over network,the deception attack signals are injected randomly,whose statues are described by a group of Bernoulli *** centralized fusion filter is proposed via an innovation analysis *** order to improve robustness and reduce computational burden,a distributed fusion filter is put forward by using matrix-weighted fusion estimation algorithm in the linear unbiased minimum variance sense.A simulation example is given to show the effectiveness of the proposed algorithms.

关键词： optimal filtering correlated noises deception attacks distributed filtering innovation analysis approach

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