Sensor management using the decentralized Kalman filter

Phil Greenway; Rob H. Deaves

doi:10.1117/12.189056

6 October 1994 Sensor management using the decentralized Kalman filter

Phil Greenway, Rob H. Deaves

Proceedings Volume 2355, Sensor Fusion VII; (1994) https://doi.org/10.1117/12.189056
Event: Photonics for Industrial Applications, 1994, Boston, MA, United States

Abstract

Previous work in data fusion has seen the development of a range of architectures for multi-sensor data fusion systems, from fully centralised through distributed to fully decentraiised [1, 2]. This paper presents some further experimental results obtained from an implementation of a multi-target tracking system built around a fully decentralised Kalman filter (DKF) [3, 4]. Here we concentrate on the problem of sensor management, and consider how the individual sensors in a decentraiised sensing network can use the information in the global picture to make decisions about which targets to observe. Explicit use is made of the information available locally to a sensor to control its pointing and target detection. The sensor modality (e.g. range only, bearing only, etc.) strongly affects the way in which the sensor is managed. The tracking system integrates an essentially range-only sensor with a bearing-only sensor [5]. The sensors run asynchronously from each other, and also exhibit asynchronous first detection. These effects are studied in the context of known target motion, as is the temporary removal of one of the sensors from the system. Of particular importance is the effect limited communications bandwidth has on the timeliness of the information exchange. Possible applications of the work are discussed, and suggestions are made for further research. This paper is organised as follows. First we review some background material, including the decentralised data fusion test bed used for the experiments reported here. Then we address the sensor management problem, and describe the experiments we have performed; these focus on assessing the impact on the performance of the data fusion system as a whole of employing sensor management. Finally, we draw some conclusions, and indicate some possible future work.

Citation Download Citation

Phil Greenway and Rob H. Deaves "Sensor management using the decentralized Kalman filter", Proc. SPIE 2355, Sensor Fusion VII, (6 October 1994); https://doi.org/10.1117/12.189056

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available