Dynamic Event-Triggered Robust Fusion Estimation for Multi-Sensor Systems Under Time-Correlated Fading Channels

This paper investigates the problem of robust fusion state estimation for multi-sensor systems under the influence of time-correlated fading channels, incorporating a dynamic event-triggered mechanism (DETM). The randomly occurring parameter uncertainties are characterized by a stochastic variable following a Bernoulli distribution, while sensor measurements are transmitted to the corresponding estimators through time-correlated fading channels and dynamic event-triggered mechanisms. The DETM dynamically adjusts the triggering threshold via regulation and memory factors, enhancing adaptability in data transmission while effectively reducing redundant communication overhead. Furthermore, an augmented state model is constructed by integrating system states, channel coefficients, and the event-triggering mechanism, thereby comprehensively capturing the impact of dynamic environments on state estimation. Based on this model, a local state estimation algorithm is designed to ensure the convergence of the upper bound of the local estimation error covariance, which is further minimized at each time step through adaptive adjustment of local estimator gains. Subsequently, the local estimates obtained from multiple estimators are fused using the covariance intersection fusion strategy, improving the overall estimation accuracy. Simulation experiments demonstrate that the proposed recursive fusion state estimation framework significantly reduces communication overhead and enhances estimation performance in the presence of both time-correlated fading channels and randomly occurring parameter uncertainties, while maintaining an acceptable computational cost. Compared to the traditional Kalman filtering method, the proposed recursive fusion state estimation algorithm improves estimation accuracy by 58% while increasing computational time by only 32.4%. Additionally, the DETM effectively reduces communication frequency by 36.7%