(1) Initialization: , . |

(2) Obtain local measurements . |

(3) Broadcast message to neighbors. |

(4) Receive messages , , from neighbors. |

(5) Compute , , , and by using (9)–(19). |

(6) Calculate the local estimate by using Theorem 1. |

(7) Broadcast message to neighbors. |

(8) Receive messages , , from neighbors. |

(9) Calculate the fusion estimate by using Theorem 4 and (25). |