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Proceedings Paper

Experimental study of network-centric data fusion algorithms
Author(s): Lewis A. Binns; Andrew R. Cooke; David W. Gough; David Mullin; David Nicholson; Dimitris Valachis
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Paper Abstract

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.

Paper Details

Date Published: 22 July 2003
PDF: 7 pages
Proc. SPIE 5101, Battlespace Digitization and Network-Centric Systems III, (22 July 2003); doi: 10.1117/12.502308
Show Author Affiliations
Lewis A. Binns, BAE SYSTEMS (United Kingdom)
Andrew R. Cooke, BAE SYSTEMS (United Kingdom)
David W. Gough, BAE SYSTEMS (United Kingdom)
David Mullin, BAE SYSTEMS (United Kingdom)
David Nicholson, BAE SYSTEMS (United Kingdom)
Dimitris Valachis, BAE SYSTEMS (United Kingdom)

Published in SPIE Proceedings Vol. 5101:
Battlespace Digitization and Network-Centric Systems III
Raja Suresh, Editor(s)

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