Distributed Consensus Cubature Information fusion in Saturated Inertial Sensors Network

In this paper, we propose a new approach of consensus- based Cubature Kalman filtering problem for a inertial sensor networks with gyroscopes and accelerometers saturations. The communication path is represented by a connected indirect graph between nodes and sensors. Saturation phenomenon exists both in the state and in the measurement. A comparison between CKF and UKF based consensus on Information is carried out. The Consensus approach is developed to estimate the true state of the target following a state equation with saturation function. Finally, the superiority of the CKF based consensus versus the previously proposed consensus-based unscented Kalman filtering is demonstrated through multiple simulations scenarios.