Distributed Indegree-weighted Kalman Consensus Filter Algorithm Against Packet-dropping

In this paper, on the basis of the Kalman consensus filter (KCF), the indegree-weighted Kalman consensus filter (IKCF) is proposed for the distributed network in the presence of packet-dropping. In the IKCF, the extended sensor measurement model is introduced to ensure all sensors can achieve measurements under packet-dropping. Further, we designed the quantization function based on the indegree to combat the transmission error. Experimental results illustrate the superior performance of the proposed IKCF.