This paper deals with the problem of tracking a moving target by means of a network of geographically dispersed nodes with Doppler sensing, communication and processing capabilities, free of any centralized coordination. The contribution is twofold. First, a suitable nonlinear observability decomposition is introduced in order to single out state coordinates that can be fully observed from a single Doppler sensor. Then, based on such a decomposition, a novel consensus filter for distributed Doppler-only tracking is developed and its performance is evaluated via computer simulations.
Distributed tracking with Doppler sensors / G. Battistelli; L. Chisci; C. Fantacci; A. Farina; A. Graziano. - STAMPA. - (2013), pp. 4760-4765. (Intervento presentato al convegno 52nd IEEE Conference on Decision and Control tenutosi a Firenze) [10.1109/CDC.2013.6760635].
Distributed tracking with Doppler sensors
BATTISTELLI, GIORGIO;CHISCI, LUIGI;FANTACCI, CLAUDIO;
2013
Abstract
This paper deals with the problem of tracking a moving target by means of a network of geographically dispersed nodes with Doppler sensing, communication and processing capabilities, free of any centralized coordination. The contribution is twofold. First, a suitable nonlinear observability decomposition is introduced in order to single out state coordinates that can be fully observed from a single Doppler sensor. Then, based on such a decomposition, a novel consensus filter for distributed Doppler-only tracking is developed and its performance is evaluated via computer simulations.
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