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Federated Tobit Kalman Filtering Fusion With Dead-Zone-Like Censoring and Dynamical Bias Under the Round-Robin Protocol
IEEE Transactions on Signal and Information Processing over Networks ( IF 3.2 ) Pub Date : 2020-12-15 , DOI: 10.1109/tsipn.2020.3044904
Hang Geng , Zidong Wang , Fuad E. Alsaadi , Khalid H. Alharbi , Yuhua Cheng

This paper is concerned with the multi-sensor filtering fusion problem subject to stochastic uncertainties under the Round-Robin protocol (RRP). The uncertainties originate from three sources, namely, censored observations, dynamical biases and additive white noises. To reflect the dead-zone-like censoring phenomenon, the measurement observation is described by the Tobit model where the censored region is constrained by prescribed left- and right-censoring thresholds. The bias is modeled as a dynamical stochastic process driven by a white noise in order to reflect the random behavior of possible ambient disturbances. The RRP is employed to decide the transmission sequence of sensors so as to alleviate undesirable data collisions. The filtering fusion is conducted via two stages: 1) the sensor observations arriving at its corresponding estimator are first leveraged to generate a local estimate, and 2) the local estimates are then gathered together at the fusion center in order to form the fused estimate. The local estimator implements a Tobit Kalman filtering algorithm on the basis of an enhanced Tobit regression model, whilst the fusion center realizes a filtering fusion algorithm in accordance with the well-known federated fusion principle. The validity of the fusion approach is finally shown via a simulation example.

中文翻译:

轮询协议和动态偏置的联合Tobit Kalman滤波融合(轮询算法)

本文关注的是在轮询协议(RRP)下具有随机不确定性的多传感器滤波融合问题。不确定性来自三个方面,即检查结果,动态偏差和加性白噪声。为了反映类似死区的审查现象,测量观测值由Tobit模型描述,其中审查区域受规定的左右审查阈值约束。偏置被建模为由白噪声驱动的动态随机过程,以反映可能的环境干扰的随机行为。RRP用于确定传感器的传输顺序,以减轻不希望的数据冲突。过滤融合分为两个阶段:1)首先利用到达其对应估计器的传感器观测值生成局部估计,然后2)然后在融合中心将局部估计收集在一起以形成融合估计。局部估计器在增强的Tobit回归模型的基础上实现Tobit Kalman滤波算法,而融合中心则根据众所周知的联合融合原理实现滤波融合算法。最后通过一个仿真实例证明了融合方法的有效性。融合中心根据众所周知的联合融合原理实现过滤融合算法。最后通过一个仿真实例证明了融合方法的有效性。融合中心根据众所周知的联合融合原理实现过滤融合算法。最后通过一个仿真实例证明了融合方法的有效性。
更新日期:2021-01-12
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