Projection-Based Constrained State Estimation and Fusion for Tracking over Long-Haul Links

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Abstract

In many mission-critical systems, a number of sensors are deployed to track ground targets with linear or nonlinear constraints on their motion dynamics. These sensors generate state estimates to be sent over long-haul links to a remote fusion center. We propose closed-form projection-based methods to incorporate known constraints into the estimation and fusion process. The extensive performance evaluation results demonstrate the extent to which projection-based fusion can improve the overall tracking accuracy performance in the presence of communication loss and delay.

Original languageEnglish
Article number8648441
Pages (from-to)25369-25381
Number of pages13
JournalIEEE Access
Volume7
DOIs
StatePublished - 2019

Funding

This work was supported in part by the Mathematics of Complex, Distributed, Interconnected Systems Program, Office of Advanced Computing Research, U.S. Department of Energy, and SensorNet Project of Office of Naval Research, and was performed at Oak Ridge National Laboratory managed by the UT-Battelle, LLC for U.S. Department of Energy under Contract DE-AC05-00OR22725.

Keywords

  • Sensor networks
  • centralized projection
  • circular constraint
  • distributed projection
  • elliptical constraint
  • error covariance matrix
  • long-haul links
  • prediction
  • root-mean-square-error performance
  • state estimation and fusion
  • straight-line constraint

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