Distributed Estimation of Time-Varying Biases in Relative State Measurements

Abstract

This article focuses on the distributed estimation of time-varying bias signals in relative state measurements of sensors, where each sensor measures the relative state of neighboring sensors and the measurements contain a time-varying bias signal that is generated from a linear exo-systems. Assume that sensors can communicate with others, we propose several distributed bias estimators, by which each sensor can reconstruct its own bias signal and the exo-system’s state using local information.