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