Distributed Kalman Filtering Over Sensor Networks With Transmission Delays

This article is concerned with a distributed state estimation problem over sensor networks. The communication links of the sensor networks are subject to bounded time-varying transmission delays. A distributed Kalman filtering algorithm is designed to estimate the state based on a Kalman consensus filtering algorithm. Moreover, sufficient conditions are derived for convergence on estimation errors and the boundedness of error covariances, respectively. Finally, the effectiveness of the designed algorithm is validated by a simulation example.