Research Article

Distributed Filter with Consensus Strategies for Sensor Networks

Algorithm 1

Kalman consensus filter.
Initialization (for node ):
           
            
Loop  {Local iteration on node
(1) Consensus update
        
        
(2) If new observations are taken then the Kalman consensus state estimate are computed
   
        
(3) If time for a predication step (i.e., ) then prediction step
        
        
        
End loop