Stability conditions for multi-sensor state estimation over a lossy network

This paper studies a networked state estimation problem for a spatially large linear system with a distributed array of sensors, each of which offers partial state measurements. A lossy communication network is used to transmit the sensor measurements to a central estimator where the minimum mean square error (MMSE) state estimate is computed. Under aMarkovian packet lossmodel, we provide necessary and sufficient conditions for the stability of the estimator for any diagonalizable system in the sense that themean of the state estimation error covariancematrix is uniformly bounded. In particular, the stability conditions for the second-order systems with an i.i.d. packet loss model are explicitly expressed as simple inequalities in terms of the largest open-loop pole and the packet loss rate. © 2015 Elsevier Ltd. All rights reserved.