含乘性噪声、时滞、丢包的无线传感器网络系统估计研究及应用

课题针对含有乘性噪声、时滞、丢包的无线传感器网络估计问题进行研究。首先，建立丢包情形下含有乘性噪声的无线传感器网络（简写为乘性无线传感器网络）数学模型和含时滞的乘性无线传感器网络模型，针对上述模型设计相应的无线传感器网络最优估计器和信息融合估计器；其次，在上述理论基础上，考虑模型中含有不确定性的情况，设计乘性无线传感器网络和时滞乘性无线传感器网络的鲁棒最优估计器，以及针对噪声统计特性未知的情况，设计乘性无线传感器网络的 H无穷估计器，同时分析上述各个估计器的收敛性；最后，将所获得的理论成果进行仿真模拟，并在移动机器人上进行实验、应用。.本课题的研究不仅可以初步建立含有乘性噪声的无线传感器网络估计理论，进一步发展无线传感器网络时滞、丢包估计理论，完善无线传感器网络估计理论体系，具有重要的理论研究价值，而且将对我国军事、监控、智能家居、交通、机器人等领域的进一步应用有着重要的实际意义。

The subject focuses on the estimation of the wireless sensor network with multiplicative noise, time delay and packet loss. Firstly, the mathematical model of the wireless sensor network with multiplicative noise and packet loss which is also termed as multiplicative-wireless-sensor-network and the mathematical model of multiplicative-wireless-sensor-network with time delay are established. Based on the above models, the optimal estimator and the corresponding information fusion estimator for the wireless sensor network will be designed; Secondly, by considering some uncertainties in the model based on the above theory and results,the robust optimal estimators of the multiplicative-wireless-sensor.-network and the delayed multiplicative-wireless-sensor-network will be designed. At the same time, for the uncertainties of the statistical characteristics of the noises, the H-infinity estimator of the multiplicative-wireless-sensor-network will be designed, and the convergence of all the above estimators will be analyzed; Finally, the results of the above theory will be simulated, and the experiments and the application will be made on the mobile robot..The research of this subject can not only preliminarily establish the estimation theory of the wireless sensor network with multiplicative noise, further develop the estimation theory of the wireless sensor network with time delay and packet loss, consume the estimation theory of the wireless sensor network, and have important theoretical value, but also have important application value in the fields such as Chinese military, monitoring, intelligent household, transportation, robot, and son on.