Abstract
In this paper the Nonlinear Information Filier (NIF) is derived from the Eziended Kalman Filier (EKF). A nonlinear system is considered. Linearizing the state and observation equations, a linear estimator which keeps track of total state estimates is conceived; ihe Ez1ended Kalman Filier. The linearized parameters and filter equations are expressed in informa1ion space. This gives a filter that predicts and estimates information about nonlinear state parameters given nonlinear observations and nonlinear system dynamics. The Nonlinear Informaiion Fil1er derivation is contrasted to that of the Linear Information ifiter (IF). Pitfalls of a naive extension of the later to the former are thus identified. Furthermore, the Nonlinear Information ifiter is decentralized and distributed, to give the Disiribued and Deceniralized Nonlinear Information (DDNIF). Application in real decentralized data fusion and distributed control is proposed. Specifically, realtime distributed/decentralized control of a navigating, modular wheeled robot is considered.
Original language | English |
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Pages (from-to) | 97-105 |
Number of pages | 9 |
Journal | Proceedings of SPIE - The International Society for Optical Engineering |
Volume | 2355 |
DOIs | |
Publication status | Published - 6 Oct 1994 |
Externally published | Yes |
Event | Sensor Fusion VII 1994 - Boston, United States Duration: 31 Oct 1994 → 4 Nov 1994 |
Keywords
- Decentralized fusion
- Distributed control
- Information filter
- Kalman filter
- Modular robot
- Nonlinear
ASJC Scopus subject areas
- Electronic, Optical and Magnetic Materials
- Condensed Matter Physics
- Computer Science Applications
- Applied Mathematics
- Electrical and Electronic Engineering