SENSOR NETWORKS LOCALISATION AND TRACKING VIA CONSENSUS UPDATE

In this paper, we propose a distributed Kalman Filter based algorithm, known in literature as Consensus Filter, applied on a sensor network. Distributing the estimation of the state of the nodes, which can be still or dynamic, is a crucial target respect to computation and energetic capabilities of typical commercial nodes. After introducing the general and analytic concepts of this filter, we show simulations results and real data based-on experiments