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Implementation of a Distributed Kalman Filter for 3-D Moving Object Tracking by Using IMU/UWB

Abstract

The focus of this thesis is on the implementation of distributed kalman filters over sensor networks for 3-D moving target tracking. Two distributed kalman filters, quaternion-based distributed extended kalman filter and distributed invariant extended kalman filter, are implemented based on crazyflie quadrotor platform in the local positioning system. In the algorithms, each agent is equipped with the communication and sensing capabilities to cooperatively track a 3-D moving object. The proposed algorithms are fully distributed and robust to time-varying communication topologies. Experimental results based on the multi-agent platform are shown to validate the proposed algorithms. Finally, we compare and analyze the performances of two algorithms based on the results.

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