Projection-Based Constrained State Estimation and Fusion for Tracking Over Long-Haul Links

Abstract

In many mission-critical systems, a number of sensors are deployed to track ground targets with linear or nonlinear constraints on their motion dynamics. These sensors generate state estimates to be sent over long-haul links to a remote fusion center. We propose closed-form projection-based methods to incorporate known constraints into the estimation and fusion process. The extensive performance evaluation results demonstrate the extent to which projection-based fusion can improve the overall tracking accuracy performance in the presence of communication loss and delay.

Keywords

• Sensor networks
• long-haul links
• state estimation and fusion
• error covariance matrix
• straight-line constraint
• circular constraint