A distributed fusion algorithm over asynchronous sensor networks

This paper presents a distributed asynchronous fusion algorithm over peer-to-peer asynchronous sensor networks. We propose two major steps to make an asynchronous fusion algorithm to work in a distributed way. First, we develop a local estimator in an optimal batch fashion. The second step is to present the fusion estimator which fuses local estimates in the neighborhood based on covariance intersection algorithm. The proposed algorithm improves local estimates and reduces the estimate disagreement. The effectiveness of the proposed distributed asynchronous fusion algorithm is validated by simulation results.