A Constraint Sufficient Statistics Based Distributed Particle Filter for Bearing Only Tracking

Provided by: Institute of Electrical & Electronic Engineers
Topic: Mobility
Format: PDF
A Constrained Sufficient Statistic based Distributed implementation of the Particle Filter (CSS/DPF) is proposed for angle/Bearing-Only Tracking (BOT) applications. The CSS/DPF runs localized particle filters at each sensor node and computes the Global Sufficient Statistics (GSS) of the overall system as a function (summation) of the Local Sufficient Statistics (LSS). The CSS/DPF is, therefore, a two stage procedure: first, the means of LSS at local nodes are computed by running average consensus algorithms to derive the GSS, and; each node then updates its localized particle filter using the modified GSS.

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