无线传感器网络分布式量化卡尔曼滤波.pdf

28 12 Vol. 28 No. 12 2011 12 Control Theory Applications Dec. 2011 :2011 , , (1. , 510640; 2. , 510310) : , . , . , Lloyd-Max, , , . , . : ; ; Lloyd-Max; : TP393 : A Distributed quantized Kalman filtering for wireless sensor networks CHEN Jun-yong , WU Yi-lin , QI Tian (1. College of Automation Science and Technology, South China University of Technology, Guangzhou Guangdong 510640, China; 2. Faculty of Computer Science, Guangdong University of Education, Guangzhou Guangdong 510310, China) Abstract: We study the distributed quantized Kalman filtering for the target-tracking in wireless sensor networks (WSNs). Because of the constraints on power and bandwidth in WSNs, sensor data have to be quantized before transmis- sion. A linear discrete-time stochastic dynamic system is employed for this purpose. First, a dynamic Lloyd-Max quantizer is adopted and the corresponding online update scheme is designed. Then, the optimal recursive quantized Kalman filter is derived based on the Bayesian principles, and an asymptotically equivalent iterative algorithm is developed. The sta- bility of the quantized Kalman filter is analyzed. Simulation results show the feasibility and effectiveness of the designed algorithms. Key words: wireless sensor networks; distributed quantized Kalman filtering; dynamic Lloyd-Max quantizer; stability 1 (Introduction) , (WSNs), , , , [6] , . Ribeiro