A Topology Optimization Method for Reducing Communication Overhead in the Kalman Consensus Filter

Abstract

Distributed estimation and tracking of interested objects over wireless sensor networks (WSNs) is a hot research topic. Since network topology possesses distinctive structural parameters and plays an important role for the performance of distributed estimation, we first formulate the communication overhead reduction problem in distributed estimation algorithms as the network topology optimization in this paper. The effect of structural parameters on the algebraic connectivity of a network is overviewed. Moreover, aiming to reduce the communication overhead in Kalman consensus filter (KCF)-based distributed estimation algorithm, we propose a network topology optimization method by properly deleting and adding communication links according to nodes’ local structural parameters information, in which the constraint on the communication range of two nodes is incorporated. Simulation results show that the proposed network topology optimization method can effectively improve the convergence rate of KCF algorithm and achieve a good trade-off between the estimate error and communication overhead.

Keywords

• Kalman consensus filter (KCF)
• network topology optimization
• algebraic connectivity
• communication overhead
• convergence rate