Distributed Data Fusion for Network-Centric Operations

7	Decentralized Data Fusion Formulation and Algorithms Paul Thompson, Eric Nettleton, and Hugh Durrant-Whyte

CONTENTS

7.1    Decentralized Data Fusion Introduction

7.2    Information Form Introduction

7.3    Decentralized Fusion and Communication

7.3.1    Tree Network Topology, Channel Cache

7.3.2    Related Channel Filter Approaches

7.3.3    Summary

7.4    Dynamic Systems

7.4.1    State Dynamics

7.4.1.1     State Dynamic Model

7.4.1.2    Trajectory Information Approach

7.4.1.3    Equivalence to the Conventional Approach

7.4.1.4    Multiple Trajectory States

7.4.2    Dynamics in Decentralized Data Fusion

7.4.2.1    Common Process Noise Problem

7.4.2.2    Delayed and Asequent Observations

7.4.2.3    Burst Communications

7.4.2.4    Solution ...