Linear Unbiased State Estimation Under Random One-step Sensor Delay

In network, randomly time-delayed or time-tagged situation often occurs, when data or signal is transmitted through network. On the basis of this case, this paper studied the filter design for a dynamic model with one-step sensor delay. First, rewrite the previous dynamic model into a new one by using the method of augmenting state, in order to compensate for the deficiency existing in previous algorithms. Then, based on this new model establish new filters and thus effectively solve the problem of filter design in original paper; also, it is showed through simulation that in same conditions, the modified filter has superiority in precision.