Weighted average consensus-based cubature information filtering for mobile sensor networks with intermittent observations

The problem of distributed state estimation for nonlinear systems with intermittent observations is considered in this paper and the algorithm of weighted average consensus-based cubature information filtering for mobile sensor networks is proposed by combining the advantages of the cubature information filtering and consensus algorithm. The nodes with observation packet losses can obtain the information contribution from neighbors in the sensor network and get the state estimations. Besides, the stochastic stability of the algorithm is analyzed for nonlinear systems. Finally, a numerical example of target tracking case study is provided to verify the effectiveness of the proposed filter.