Weighted average consensus-based cubature Kalman filtering for mobile sensor networks with switching topologies

To deal with the distributed estimation for mobile sensor networks with switching topologies, an algorithm of the weighted average consensus-based cubature Kalman filtering is proposed by combining the advantages of the cubature Kalman filtering in information form and consensus algorithm. On the basis of the predecessors research work, the sufficient condition is presented for ensuring the weighted average consensus estimation in mobile sensor networks. Besides, the stability of the algorithm is analyzed for nonlinear systems with nonlinear state equation and nonlinear observation equation which are assumed to be continuously differentiable. Finally, the effectiveness of the proposed algorithm is evaluated on a target tracking case study with nonlinear motion equation and nonlinear observation equation.