传感器网络中鲁棒状态信息融合抗差卡尔曼滤波器

传感器网络中鲁棒状态信息融合抗差卡尔曼滤波器

周彦;李建勋;王冬丽

【期刊名称】《控制理论与应用》

【年(卷),期】2012(029)003

【摘要】The problem of distributed robust estimation fusion is considered for a hierarchical wireless sensor network （WSN）. Based on the theory of robust statistics （RS）, a novel anti-outlier （extended）Kalman filter （KF） is presented for local state estimation in a clustered WSN with correlated measuring noises. In the fusion center （FC）, a cross-covariance- independent track fusion approach - internal ellipsoidal approximation fusion （IEAF） is developed to fuse the local es- timates, among which the correlations are usually unknown or incomplete. Simulation results illustrate the significance of the proposed approaches：the presented anti-outlier KF deteriorates in performances much less than the traditional KF （28.6% VS. 428.6%） in the presence of outlier; the proposed IEAF has higher fusion accuracy than the fusion estimator of covariance intersection （CI）, and doesn＇t need any prior knowledge.%研究了无线传感器网络中的分布式鲁棒状态信息融合问题．在局部状态估计层，基于鲁棒统计学理论提出了适用于噪声相关情况的抗差（扩展）卡尔曼滤波器．在融合中心层，针对局部估计相关未知性和不完整性，给出了不依赖于互协方差阵的稳健航迹融合方法一内椭球逼近法．仿真结果证实了算法的有效性：所提出的抗差卡尔曼滤波器在野值存在情