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In the process of target tracking and localization in bearing-only sensor network, it is an essential and significant challenge to solve the problem of plug-and-play expansion while enhancing the accuracy of state estimation and stability of the system. This paper proposes the distributed cubature information filtering method based on the two-layer factor graph.
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In this brief, the distributed cubature information filtering method is proposed to solve the state estimation problem of target in passive sensor network. Firstly, the observation system model of bearing-only sensor network is established and analysised. The sensor node pairs only measure the relative angle information, and then the state estimation of the target is realized based on the DCIF algorithm.
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