Improving Distributed Moving Horizon Estimation Over Wireless Sensor Networks With Application to Mobile Robot Localization

IF 4.3 2区 综合性期刊 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC
Chaoyang Liang;Defeng He;Yun Chen
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引用次数: 0

Abstract

This article investigates the distributed state estimation (DSE) problem for constrained nonlinear systems over wireless sensor networks (WSNs). We propose a novel hybrid distributed moving horizon estimation (DMHE) framework that combines both local measurements and prior estimates from neighboring nodes. The local estimation is performed in real time by solving an optimization problem that fuses these two information sources, thereby enhancing accuracy and robustness. A key advantage of our framework lies in designing the consensus prior weighting parameters offline via linear matrix inequalities (LMIs), providing a more flexible and scalable approach to improving global estimation performance. Furthermore, under disturbance boundedness, collective observability, and network connectivity, we prove that the global estimation error converges exponentially to a well-defined bound. The proposed framework generalizes two distinct DMHE approaches—consensus on prior estimates and consensus on measurements. Numerical results on a mobile robot localization task demonstrate its superior performance, underscoring both its theoretical soundness and practical feasibility.
改进无线传感器网络的分布式移动地平线估计及其在移动机器人定位中的应用
研究了无线传感器网络中约束非线性系统的分布式状态估计问题。提出了一种新的混合分布式移动地平线估计(DMHE)框架,该框架结合了局部测量和相邻节点的先验估计。通过求解融合这两个信息源的优化问题实时进行局部估计,从而提高了精度和鲁棒性。该框架的一个关键优势在于通过线性矩阵不等式(lmi)离线设计共识先验加权参数,为提高全局估计性能提供了更灵活和可扩展的方法。此外,在扰动有界性、集体可观察性和网络连通性条件下,我们证明了全局估计误差指数收敛于一个定义良好的界。提出的框架概括了两种不同的DMHE方法-对先前估计的共识和对测量的共识。一个移动机器人定位任务的数值结果证明了该方法的优越性能,表明了该方法的理论合理性和实际可行性。
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来源期刊
IEEE Sensors Journal
IEEE Sensors Journal 工程技术-工程:电子与电气
CiteScore
7.70
自引率
14.00%
发文量
2058
审稿时长
5.2 months
期刊介绍: The fields of interest of the IEEE Sensors Journal are the theory, design , fabrication, manufacturing and applications of devices for sensing and transducing physical, chemical and biological phenomena, with emphasis on the electronics and physics aspect of sensors and integrated sensors-actuators. IEEE Sensors Journal deals with the following: -Sensor Phenomenology, Modelling, and Evaluation -Sensor Materials, Processing, and Fabrication -Chemical and Gas Sensors -Microfluidics and Biosensors -Optical Sensors -Physical Sensors: Temperature, Mechanical, Magnetic, and others -Acoustic and Ultrasonic Sensors -Sensor Packaging -Sensor Networks -Sensor Applications -Sensor Systems: Signals, Processing, and Interfaces -Actuators and Sensor Power Systems -Sensor Signal Processing for high precision and stability (amplification, filtering, linearization, modulation/demodulation) and under harsh conditions (EMC, radiation, humidity, temperature); energy consumption/harvesting -Sensor Data Processing (soft computing with sensor data, e.g., pattern recognition, machine learning, evolutionary computation; sensor data fusion, processing of wave e.g., electromagnetic and acoustic; and non-wave, e.g., chemical, gravity, particle, thermal, radiative and non-radiative sensor data, detection, estimation and classification based on sensor data) -Sensors in Industrial Practice
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