A CA-GCI Based Consensus Fusion Approach for Distributed Sensors with Different Fields of View

Abstract

This paper is concerned with the distributed fusion problem of sensors with different fields of view (FoVs). The recently derived CA-GCI method provides solution to the fusion problem of sensors with different Fovs. However, it does not mention about the way that how to share information among more than 3 sensors. Consensus method is suitable for information sharing in distributed network, but it always based on the assumption that the sensors all have the same FoV. Thus the existing method cannot be applied directly. Based on the combination of the consensus method and the newly derived CA-GCI method, this paper proposes a consensus fusion approach for the sensors with different FoVs in a distributed network. Furthermore, this paper derives the minimum iteration steps required to ensure the network consensus is |풩| – 1, where |풩| represents the number of nodes in the networks. Simulation results demonstrate the effectiveness of the proposed approach.