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Distributed state Estimation for Large-Scale Systems with state equality constraints

Distributed State Estimation for Large-Scale Systems with St...

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第43届中国控制会议

作者： Yongming Sui Xinmin Song School of Information Science and Engineering Shandong Normal University

This paper investigates the design of distributed Kalman filter for large-scale systems with state equality constraints in a Gaussian environment. Firstly,we design a unconstrained distributed estimator for a large-scale systems using the local information of different subsystems. The optimal gain is obtained based on the minimum mean square error estimation ***,we study distributed Kalman filter for large-scale systems that integrate equality constraints. In this approach,the solution from the unconstrained Kalman filter is projected onto the state-constrained surface at each time step to enhance the prediction accuracy of the filter in large-scale systems. Finally,the simulation experiments demonstrate that the effectiveness of the distributed Kalman filter for large-scale systems with state equality constraints outperforms unconstrained Kalman filter.

关键词： Distributed Kalman filter Large-scale systems Minimum mean square error state equality constraints

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Maximum Correntropy Criterion Kalman Filter Based Target Tracking with state constraints

Maximum Correntropy Criterion Kalman Filter Based Target Tra...

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第三十九届中国控制会议

作者： Yiqun Zou Shuang Zou Xiafei Tang Lingli Yu School of Automation Central South University School of Electrical and Information Engineering Changsha University of Science and Technology

Since the maximum correntropy criterion（MCC） can capture higher moments of the stochastic signal, the maximum correntropy criterion Kalman filter（MCC-KF） behaves well in state estimation under non-gaussian noise compared to the classic KF. If some prior information such as state constraints is known, we can improve the performance of the MCC-KF by the incorporation of state equality constraints. In this paper, we realize this incorporation through estimation projection technique to deal with the linear and nonlinear constraints. The corresponding algorithm is presented as the main contribution of this *** in the example of target tracking, the algorithm shows its superiority against its classic counterpart.

关键词： Kalman filter maximum correntropy criterion maximum correntropy criterion Kalman filter state equality constraints estimation projection target tracking

来源： cnki会议评论

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