By Waller A., Duncan D. B.
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PROBLEM FORMULATION Consider linear observation equations of an unknown common parameter , where the observed data is contaminated with noise, namely (1) where and are the unknown random parameter and the noise, respectively. , is the dimension of the estimated parameter , and is the dimension of the observation of the th sensor. , and Var . The observation here is not necessarily the original sensor measurement. It may also be a precan be the estimate at processed sensor data. In particular, the th sensor.