1. Initialization: , , , ; | 2. while new data is received, do | 3. Locally compute the weighted average of estimations and covariances about system parameters: | ; | | 4. Compute the Kalman estimate of the system parameters: | , | , | | 5. Locally aggregate data and compute the weighted average of estimations and covariances about state estimation: | , | , | , | , | , | | where and , is the number of nodes in set ; | if is observable, and for , , | else | | 6.Compute the robust Kalman estimate of the target state: | if there exists such that | , | then ; | where, | , | , | , | , | and are updated using the following equation: | | | | , | |
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