Distributed Estimation Fusion for Maneuvering Target Based on Consensus Method and Cubature Kalman Filter with Switching Topologies Network

This paper proposes a distributed estimates fusion algorithm for target tracking problem based on consensus method and cubature kalman filter with switching topology network. In order to get the accurate state information of maneuvering target via sensor network, this paper develops filter algorithm by taking the advantage of consensus method and cubature kalman filter. Firstly, each sensor node gets the local estimation by performing cubature kalman filter algorithm. Secondly, we develops a fusion protocol to fuse the estimates from each sensor node in the sensor network based on the consensus method. In this step, the switching topologies of sensor network is considered and the sufficient condition for the algorithm proposed in this paper is given. Besides, this paper analyses the boundedness of the algorithm proposed and gives the detailed proof of convergence. Finally, a simulation example is presented to illustrate the effectiveness of the proposed algorithm.