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This paper investigates the problem of OOSM filtering for the system with arbitrary-step-lag OOSM. A new direct OOSM filtering algorithm is devised, based on the built equivalent measurement. The proposed algorithm takes fully consideration on the correlation of the equivalent measurement noise and the previous estimations, so it is optimal in the sense of MMSE. Finally, a simulation with two scenes...
Influenced by the multihop transmission, the routing protocol and the dynamic topology of wireless sensor networks (WSN), the measurements sampled in order by the distributed sensors may arrive in the fusion center out of sequence when they are transported across WSN. In order to gain the optimal global performance, the fusion center should update the state estimate with these out-of-sequence measurements...
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