The paper deals with decentralized state estimation for spatially distributed systems described by linear partial differential equations from discrete in-space-and-time noisy measurements provided by sensors deployed over the spatial domain of interest. A fully scalable approach is pursued by decomposing the domain into overlapping subdomains assigned to different processing nodes interconnected to form a network. Each node runs a local finite-dimensional Kalman filter which exploits the finite element approach for spatial discretization and the parallel Schwarz method to iteratively enforce consensus on the estimates and covariances over the boundaries of adjacent subdomains. Stability of the proposed distributed consensusbased finite element Kalman filter is mathematically proved and its effectiveness is demonstrated via simulation experiments concerning the estimation of a bi-dimensional temperature field.
Distributed Finite-Element Kalman Filter for Field Estimation / Battistelli, Giorgio; Chisci, Luigi; Forti, Nicola; Pelosi, Giuseppe; Selleri, Stefano. - In: IEEE TRANSACTIONS ON AUTOMATIC CONTROL. - ISSN 0018-9286. - STAMPA. - 62:(2017), pp. 3309-3322. [10.1109/TAC.2016.2636659]
Distributed Finite-Element Kalman Filter for Field Estimation
BATTISTELLI, GIORGIO;CHISCI, LUIGI;FORTI, NICOLA;PELOSI, GIUSEPPE;SELLERI, STEFANO
2017
Abstract
The paper deals with decentralized state estimation for spatially distributed systems described by linear partial differential equations from discrete in-space-and-time noisy measurements provided by sensors deployed over the spatial domain of interest. A fully scalable approach is pursued by decomposing the domain into overlapping subdomains assigned to different processing nodes interconnected to form a network. Each node runs a local finite-dimensional Kalman filter which exploits the finite element approach for spatial discretization and the parallel Schwarz method to iteratively enforce consensus on the estimates and covariances over the boundaries of adjacent subdomains. Stability of the proposed distributed consensusbased finite element Kalman filter is mathematically proved and its effectiveness is demonstrated via simulation experiments concerning the estimation of a bi-dimensional temperature field.File | Dimensione | Formato | |
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