Paper

Performance Analysis of Decentralized Kalman Filters under Communication Constraints

Volume Number:
2
Issue Number:
2
Pages:
Starting page
65
Ending page
76
Publication Date:
Publication Date
December 2007
Author(s)
M. Schlosser, K. Kroschel

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Abstract

Distributed fusion architectures are often used in multi-sensor target tracking as they are more robust and more flexible than centralized architectures. Furthermore, they allow for a reduction in the required communication bandwidth with only limited effect on the estimation performance. The trade-off between bandwidth and performance is analyzed in detail for the special case of a decentralized Kalman filter. As a result of this study, a conservative fusion approach for such systems with a reduced communication rate is proposed.