Distributed Fusion Estimation for Multisensor Multirate Systems with Stochastic Observation Multiplicative Noises

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="373270.fig.004a" src="https://static.hindawi.com/articles/mpe/volume-2014/373270/figures/373270.fig.004a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>The first state component</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="373270.fig.004b" src="https://static.hindawi.com/articles/mpe/volume-2014/373270/figures/373270.fig.004b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>The second state component</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="373270.fig.004c" src="https://static.hindawi.com/articles/mpe/volume-2014/373270/figures/373270.fig.004c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>The third state component</td></tr></table></td></tr></table>

<table>Comparison of variances of centralized and distributed fusion filters.</table>

Mathematical Problems in Engineering

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Figure 4

Figure 4: Distributed Fusion Estimation for Multisensor Multirate Systems with Stochastic Observation Multiplicative Noises 