Event-Based State Estimation Under the Presence of Multiplicative Measurement Noise

An event-based state estimation problem for a discrete-time system when the measurements are corrupted with multiplicative noise is considered in this letter. A general event-based sampling is employed to obtain the measurements, where the event-based strategy is implicitly utilized to obtain state estimate and covariance. To deal with multiplicative noise, maximum a posteriori (MAP) estimator is used in conjunction with the Newton-Raphson iterative method. The proposed results are depicted using a numerical example.