@InProceedings{ChagasWald:2016:ExDeMe,
author = "Chagas, Ronan Arraes Jardim and Waldmann, Jacques",
affiliation = "{Instituto Nacional de Pesquisas Espaciais (INPE)} and {Instituto
Tecnol{\'o}gico de Aeron{\'a}utica (ITA)}",
title = "Extrapolation of delayed measurements for fusion in a distributed
sensor network",
booktitle = "Proceedings...",
year = "2016",
pages = "1319--1324",
organization = "Mediterranean Conference on Control and Automation, 24. (MED)",
keywords = "Embedded systems, Extrapolation, Kalman filters, Sensor networks
Computational burden, Computational resources, Delayed
measurements, Distributed networks, Distributed sensor networks,
Memory requirements, Optimal estimates, Sub-optimal algorithms.",
abstract = "The measurement extrapolation (ME) algorithm was devised to fuse
delayed measurements in the Kalman filter. It is a suboptimal
algorithm that greatly reduces the computational burden of the
optimal Reiterated Kalman Filter (RKF). ME can be used in embedded
systems that lack the required computational resources to compute
the optimal estimate. However, it has not been extended yet to be
applied in a distributed sensor network. Furthermore, it is
verified here that the original ME algorithm provides a biased
estimate, which can degrade the estimation accuracy. Thus, this
work proposes to extend ME to fuse delayed measurements received
by nodes in a distributed network, and to remove the bias using
Bayesian concepts, improving the accuracy of the novel method. The
ME computational burden and memory needs are theoretically
analyzed and compared to those of the RKF. Finally, simulations of
a simplified distributed network are presented to measure the
performance of the new algorithm with respect to RKF and to
validate the theoretical analysis. The results show that ME can
provide an estimate with acceptable accuracy whereas the
computational burden is greatly decreased and the memory
requirements are only slightly increased compared to RKF.",
conference-location = "Athens, Greece",
conference-year = "21-24 June",
doi = "10.1109/MED.2016.7535932",
url = "http://dx.doi.org/10.1109/MED.2016.7535932",
isbn = "978-146738345-5",
language = "en",
targetfile = "chagas_extrapolation.pdf",
urlaccessdate = "15 jun. 2024"
}