Optimal full-order filtering for discrete-time systems with random measurement delays and multiple packet dropouts

This paper is concerned with the estimation problem for discrete-time stochastic linear systems with possible single unit delay and multiple packet dropouts.Based on a proposed uncertain model in data transmission,an optimal full-order filter for the state of the system is presented,which is shown to be of the form of employing the received outputs at the current and last time instants.The solution to the optimal filter is given in terms of a Riccati difference equation governed by two binary random variables.The optimal filter is reduced to the standard Kalman filter when there are no random delays and packet dropouts.The steady-state filter is also investigated.A sufficient condition for the existence of the steady-state filter is given.The asymptotic stability of the optimal filter is analyzed.