Distributed Tracking with Doppler Sensors

Battistelli, G.; Chisci, L.; Fantacci, Claudio; Farina, A.; Graziano, A.

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Date

2013

Type

Conference Paper

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Citation

Battistelli, G. and Chisci, L. and Fantacci, C. and Farina, A. and Graziano, A. 2013. Distributed Tracking with Doppler Sensors, in Thomas Parisini, Roberto Tempo (ed), 2013 IEEE 52nd Annual Conference on Decision and Control (CDC 2013), Dec 10 2013, pp. 4760-4765. Firenze, Italy: IEEE.

Source Title

Proceedings of the 2013 IEEE 52nd Annual Conference on Decision and Control (CDC 2013)

Source Conference

2013 IEEE 52nd Annual Conference on Decision and Control (CDC 2013)

Abstract

This paper deals with the problem of tracking a moving target by means of a network of geographically dispersed nodes with Doppler sensing, communication and processing capabilities, free of any centralized coordination. The contribution is twofold. First, a suitable nonlinear observability decomposition is introduced in order to single out state coordinates that can be fully observed from a single Doppler sensor. Then, based on such a decomposition, a novel consensus filter for distributed Doppler-only tracking is developed and its performance is evaluated via computer simulations.