Comparison of the Kalman Filter and the Unbiased FIR Filter for Network Systems with Multiples Output Delays and Lost Data

In this article, a comparison of the UFIR and Kalman filter to estimate a tracking vehicle system variables is developed considering two possible observation output models. The time stamp approach and the predictive compensation are used to analyze the problem from multiple perturbations, which produces random delayed data and losses during transmissions. For the estimation, a transformation model and a decorrelation covariance matrices are developed with the aim of assure optimal conditions and minimizing the estimation error. Finally, several real situations, miss modeling, uncertain noise covariances, and uncertain probabilities are proposed to demonstrate the effectiveness and robustness of the filter proposed.