October 2011
Intermediate to advanced
749 pages
23h 36m
English
Content preview from Optimal Estimation of Dynamic Systems, 2nd Edition
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Advanced Topics in Sequential State Estimation 239
Local
Filter 1
Local
Filter 2
#
Local
Filter M
Fusion
Node
Measurement
Set 1
Measurement
Set 2
Measurement
Set M
Fused Filter
Estimation
Local Filter
Outputs
Figure 4.3: Decentralized Filtering
formation that is divided, and portions of the total information are shared by the local
nodes. Other decentralized concepts, such as scalability, are discussed in Ref. [20].
The best way to describe a decentralized system is through example. Consider a
two-dimensional geolocation estimation problem using three range measurements.
We consider only two local nodes. Node 1 uses range measurement sets 1 and 2, and
node ...
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