For the problem that the performance of distributed filter based on Sigma point information filtering is affected by the parameters, which limits its scope of application, a distributed CKF based on cubature Kalman filter(CKF) is derived by using the information filter framework and the average-consensus theory. This algorithm not only keeps advantages of the distributed filtering, such as the scalability and the robustness to sensor failures, but also has the high accuracy and strong stability of CKF. The ...
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