Event-triggered cooperative unscented Kalman filtering and its application in multi-UAV systems

• Autores: Weihao Song, Jianan Wang, Shiyu Zhao, Jiayuan Shan
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 105, 2019, págs. 264-273
• Idioma: inglés
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• Resumen

  • This paper proposes a novel consensus-based distributed unscented Kalman filtering algorithm with event-triggered communication mechanisms. With such an algorithm, each sensor node transmits the newest measurement to the corresponding remote estimator selectively on the basis of its own event-triggering condition. Compared to the existing approaches, the proposed algorithm can significantly reduce unnecessary data transmissions and hence save communication energy consumption and alleviate the communication burden. A sufficient condition is provided to guarantee the stochastic stability of the distributed nonlinear filtering scheme. The proposed algorithm is applicable to a wide range of distributed estimation tasks, e.g., tracking a moving target with multiple unmanned aerial vehicles (UAVs). Simulation results demonstrate the feasibility and effectiveness of the proposed filtering algorithm.