Step by step fusion SOI-KF with random packet dropping

To the phenomenon of the limited bandwidth in wireless sensor networks, the innovation is quantized to a one-bit datum based on its sign, which reduces the transmission burden and energy consumption. During every sampling period, it must be taken into account that the transmitted data may be lost or received by the fusion center at different time instants. So the step by step fusion SOI-KF (Kalman Filter using the Sign of Innovations) with random packet dropping is designed based on the idea of first coming first dealing. It will avoid the waiting of the data which have firstly reached the fusion center in a sampling period and reduce the high-dimension computational burden caused by augmentation in the centralized fusion. The simulation verifies the feasibility and effectiveness of the algorithm.