UFIR State Estimator for Network Systems with Two-Step Delayed and Lost Data

Wireless communication over networks often produces issues associated with delayed and missing data. In this paper, we consider one-step and two-step delays. The state space model is transformed to have no delay with new system and observation matrices. To mitigate the effect, we develop the unbiased finite impulse response (UFIR) filter, Kalman filter (KF), and game theory H∞ filter for Bernoulli-distributed delays with possible packet dropouts. A comparative study of the filters developed is provided under the uncertain noise and transmission probability. Numerical simulation is conducted employing a GPSbased tracking network system. A better performance of the UFIR filter is demonstrated experimentally