<title>Decentralized track fusion in dynamic networks</title>

Abstract

Decentralized systems merit a detailed analysis in view of the potential advantages that they offer. These include significant improvements in fault tolerance, modularity and scalability. Such attributes are required by a number of systems that are currently being planned within the defence and civil aerospace sectors.A recognized difficulty with the decentralized network architecture is the potential it creates for redundant data to proliferate as a result of cyclic information flows. This can lead to estimation biases and divergence. Solutions which require the network information sources to be tagged in some way are not generally possible without relaxing some of the constraints on which the decentralized paradigm is founded. This paper consequently investigates a different approach. Specifically, it examines the application of the Covariance Intersection (CI) data fusion technique. CI is relevant to the redundant data problem because it guarantees consistent estimates without requiring correlations to be maintained. The estimation performance of CI is compared here, with respect to a restricted Kalman approach, for a dynamic multi-platform network example. It is concluded that a hybrid CI/Kalman approach offers the best solution, since it exploits known independent information and unknown correlated information without having to relax the decentralized constraints.

Multi-Sensor Data Fusion with Covariance Intersection in Robotic Space with Network Sensor Devices

“…In human interface applications, decentralization offers the possibility of producing plug-and-play systems in which sensors can be slotted in and out to optimize a trade off between price and performance. This has significant implications for robotic space with network sensors as well because it can dramatically reduce the time required to incorporate new computational and sensing components into fighter aircraft, ships, and other types of platforms [3][4].…”

<title>Multiple-platform localization and map building</title>

“…For this reason, there has been a great deal of research in the area over recent years. [1][2][3][4][5] There are three basic constraints to a general decentralised system: 1. There is no single central fusion centre and no node should be central to the operation of the network.…”