Kullback-Leibler Divergence Based Distributed Cubature Kalman Filter and Its Application in Cooperative Space Object Tracking

In this paper, a distributed Bayesian filter design was studied for nonlinear dynamics and measurement mapping based on Kullback-Leibler divergence. In a distributed structure, the nonlinear filter becomes a challenging problem, since each sensor cannot access the global measurement likelihood function over the whole network, and some sensors have weak observability of the state. To solve the problem in a sensor network, the distributed Bayesian filter problem was converted into an optimization problem by maximizing a posterior method. The global cost function over the whole network was decomposed into the sum of the local cost function, where the local cost function can be solved by each sensor. With the help of the Kullback-Leibler divergence, the global estimate was approximated in each sensor by communicating with its neighbors. Based on the proposed distributed Bayesian filter structure, a distributed cubature Kalman filter (DCKF) was proposed. Finally, a cooperative space object tracking problem was studied for illustration. The simulation results demonstrated that the proposed algorithm can solve the issues of varying communication topology and weak observability of some sensors.