GPS World, September 2010
Centralized filter CF represents globally optimal estimation accuracy for the implemented system models Decentralized filter DF is based on a collection of local filters whose solutions can be combined by a single master filter DFs can be further categorized based on information sharing principles and implementation modes Emergency Response GOVERNMENT Centralized Decentralized EKF These two methods can provide comparable results with similar computational costs for networks up to 30 nodes Figures 3 5 describe example architectures of centralized decentralized EKF algorithms In FIGURE 3 all measurements collected at the nodes and the inter nodal range measurements are processed by a single centralized EKF FIGURES 4 AND 5 illustrate the decentralized EKF with the primary difference between them being in the methods of applying the inter nodal range measurements The range ÅFIGURE 4 Decentralized EKF option 1 ÅFIGURE 5 Decentralized EKF option 2 Perfection FREQUENCY ACCURACY 1 X 10 13 AT 1 DAY TIMING ACCURACY 10 NANOSECONDS RMS TO GPS 10 MHZ PHASE NOISE 110 dBC AT 1 HZ ALLAN DEVIATION 6 X 10 13 AT 1 SECOND MADE IN AMERICA INNOVATIVE TIME AND FREQUENCY INSTRUMENTS www endruntechnologies com 1 877 749 3878 www gpsworld com September 2010 GPS World 39
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