Abstract: Based on the Insect Intelligent Building platform, a decentralized Kalman filter algorithm with state constraints is presented. The algorithm establishes the equation through physical constraints, and uses the equality constraint between neighboring nodes to calculate the Kalman filter estimation value with state constraints, so as to achieve the purpose of fault diagnosis and data checking. Based on the distributed structure, the algorithm takes the form of sensor network nodes, each node having its own processing system without any central nodes or central communication facilities. Therefore, the proposed algorithm is fully distributed, allowing independent calculations between multiple measurement nodes. The paper discusses the algorithm derivation process in detail, and verifies the parallelism, accuracy and stability of the algorithm through software simulation and hardware testing.

Key words: Insect Intelligent Building platform, decentralized Kalman filter, multi-sensor network, state equality constraints, projection estimation