This paper is concerned with the problem of distributed estimation fusion over peer-to-peer asynchronoussensor networks with random packet dropouts. A distributed asynchronous fusion algorithm is proposed via the covariance intersection method. First, local estimator is developed in an optimal batch fashion by constructing augmented measurement equations. Then the fusion estimator is designed to fuselocal estimates in the neighborhood. Both local estimator and fusion estimator are developed by taking into account the random packet losses. The presented estimation method improves local estimates and reduces the estimate disagreement. Simulation results validate the effectiveness of the proposed distributed asynchronous fusion algorithm.
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