Convergence of Locating Nodes'' Positions in Wireless Sensor Networks in a Complex Environment
面向无线传感器网络节点定位的自适应卡尔曼滤波算法收敛条件分析

The filtering effects are analyzed when the innovations' series in an adaptive Kalman filter(AKF)is colored noise.Taken the matrix norm as a tool,it is proved that at time k,the distance between the covariance matrix in the AKF and the covariance matrix in the kth optimal KF is in proportion to the innovations' correlation.Then,it is derived that covariance matrices in all AKFs are gradually away from the covariance matrix in the 1th optimal KF based on the above-mentioned conclusions.At last,it is summariz...