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22 July 2003 Experimental study of network-centric data fusion algorithms
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Network-centric architectures are defined by the complete absence of a traditional central data fusion site and also, in general, a central communication facility. Instead, the data fusion is performed at each network node and these nodes communicate on a strictly point-to-point basis. The network topology, which may be dynamic, is assumed to be unknown. These governing constraints imply a fault-tolerant, scalable, and modular system. However, such systems are prone to possible inconsistent fused estimates as a consequence of the well-known rumor propagation problem. The algorithmic challenge is to combat this problem without sacrificing the aforementioned benefits. This has led to the formulation of a technique known as Covariance Intersection (CI). Most recently, CI has been integrated with the Kalman filter to produce the Split CI algorithm - a general solution to decentralised data fusion in arbitrary communication networks. These algorithms have not yet been evaluated outside of a limited simulation environment. The purpose of this paper is to present a study of their relative performance in a hardware-based decentralised sensor network system. The paper will describe a number of indoor experiments that involve tracking a ground target by means of multiple, networked, wall-mounted cameras. High precision ground truth target positions are available from a laser-tracking device. The experiments will evaluate Kalman, CI, and Split CI algorithm performance - measured in terms of consistency, convergence and accuracy - with respect to a range of static and dynamic network topologies.
© (2003) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Lewis A. Binns, Andrew R. Cooke, David W. Gough, David Mullin, David Nicholson, and Dimitris Valachis "Experimental study of network-centric data fusion algorithms", Proc. SPIE 5101, Battlespace Digitization and Network-Centric Systems III, (22 July 2003);


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