Distributed State Estimation for Sensor Network with High Packet Loss Rate

This study explores a novel distributed consensus filter in which each sensor shares both its predictions and measurements with neighboring sensors. An algorithm is introduced to separately fuse the innovation terms and consensus terms within the framework of the proposed distributed consensus filter. The proposed method effectively mitigates packet loss and ensures consistent estimates across all nodes. Simulation results demonstrate that the proposed distributed consensus filter outperforms existing ones in environments susceptible to packet loss.