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Author Sinopoli, B. ♦ Schenato, L. ♦ Franceschetti, M. ♦ Poolla, K. ♦ Jordan, M.I. ♦ Sastry, S.S.
Sponsorship Honeywell Lab. ♦ Xerox ♦ Nat. Instruments ♦ Math Works
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2003
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Kalman filters ♦ Filtering ♦ Wireless sensor networks ♦ Sensor systems ♦ Navigation ♦ Embedded system ♦ Communication channels ♦ Spread spectrum communication ♦ Delay effects ♦ Communication system control
Abstract Motivated by our experience in building sensor networks for navigation as part of the Networked Embedded Systems Technology (NEST) project at Berkeley, we consider the problem of performing Kalman filtering with intermittent observations. When data travel along unreliable communication channels in a large, wireless, multi-hop sensor network, the effect of communication delays and loss of information in the control loop cannot be neglected. We address this problem starting from the discrete Kalman filtering formulation, and modeling the arrival of the observation as a random process. We study the statistical convergence properties of the estimation error covariance, showing the existence of a critical value for the arrival rate of the observations, beyond which a transition to an unbounded error occurs.
Description Author affiliation: Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA (Sinopoli, B.; Schenato, L.; Franceschetti, M.; Poolla, K.; Jordan, M.I.; Sastry, S.S.)
ISBN 0780379241
ISSN 01912216
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2003-12-09
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 761.51 kB
Page Count 8
Starting Page 701
Ending Page 708


Source: IEEE Xplore Digital Library