Cooperative target estimation of strap-down missiles considering random measurement delay

Aiming at the problem of cooperative target estimation for multiple strap-down missiles, this paper is concerned with developing a distributed cooperative estimation fusion algorithm considering the random transmission delay of observation data. As a stepping stone, the random measurement delay system with multiple strap-down missiles is transformed into a delay-free system with correlation noise in finite time intervals using the random observation delay model for strap-down missiles. Then, the distributed fusion technique without feedback is proposed based on the design of the best local filter for each strap-down sampling subsystem; To further enhance the robustness and stability of the cooperative target estimation system, the distributed fusion algorithm with feedback is suggested. Simulation in various cases and comparison studies are conducted to verify the effectiveness and robustness of the proposed scheme.