We propose a state estimation methodology using a network of distributed observers. We consider a scenario in which the local measurement at each node may not guarantee the system's observability. In contrast, the ensemble of all the measurements does ensure that the observability property holds. As a result, we design a network of observers such that the estimated state vector computed by each observer converges to the system's state vector by using the local measurement and the communicated estimates of a subset of observers in its neighborhood. The proposed estimation scheme exploits sensor redundancy to provide robustness against faults in the sensors. Under suitable conditions on the redundant sensors, we show that it is possible to mitigate the effects of a class of sensor faults on the state estimation. Simulation trials demonstrate the effectiveness of the proposed distributed estimation scheme.

中文翻译：

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分布式观测器网络的传感器容错状态估计

我们提出了一种使用分布式观察者网络的状态估计方法。我们考虑一个场景，其中每个节点的本地测量可能无法保证系统的可观察性。相反，所有测量的集合确实确保了可观察性属性成立。因此，我们设计了一个观察者网络，使得每个观察者计算的估计状态向量通过使用本地测量和其附近观察者子集的通信估计收敛到系统的状态向量。所提出的估计方案利用传感器冗余来提供针对传感器故障的鲁棒性。在冗余传感器的适当条件下，我们表明可以减轻一类传感器故障对状态估计的影响。