Evaluation of network effects on the Kalman filter and accumulated state density filter

Abstract

Command and control applications are important especially in tactical scenarios. For such scenarios wireless multi-hop networks may be deployed as they can be used even when there is no infrastructure left. Due to the specific characteristics of these networks the problem of Out-of-Sequence (OoS) measurements for tracking applications arises. In this paper, we present an exhaustive, realistic evaluation of OoS measurements induced by network protocol effects. To this end, we compare a standard Kalman filter to an accumulated state density filter. The results show that in wireless multi-hop networks a filter that can deal with OoS measurements is needed.