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Diffusion Strategies for Distributed Kalman Filtering and Smoothing

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2 Author(s)
Cattivelli, F.S. ; Dept. of Electr. Eng., Univ. of California, Los Angeles, CA, USA ; Sayed, A.H.

We study the problem of distributed Kalman filtering and smoothing, where a set of nodes is required to estimate the state of a linear dynamic system from in a collaborative manner. Our focus is on diffusion strategies, where nodes communicate with their direct neighbors only, and the information is diffused across the network through a sequence of Kalman iterations and data-aggregation. We study the problems of Kalman filtering, fixed-lag smoothing and fixed-point smoothing, and propose diffusion algorithms to solve each one of these problems. We analyze the mean and mean-square performance of the proposed algorithms, provide expressions for their steady-state mean-square performance, and analyze the convergence of the diffusion Kalman filter recursions. Finally, we apply the proposed algorithms to the problem of estimating and tracking the position of a projectile. We compare our simulation results with the theoretical expressions, and note that the proposed approach outperforms existing techniques.

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Automatic Control, IEEE Transactions on  (Volume:55 ,  Issue: 9 )