“…The aim of multisensor fusion estimation is to make the best use of the local measurements or local estimators generated from every single sensor, to get the fusion estimation, which has higher accuracy than any local estimator that barely uses single sensor's information [1,3]. It is first studied in military applications and has been developed in many high-technology fields, such as aerospace, guidance, control, defense, navigation of intelligent vehicles, positioning of robotics, target tracking, monitoring and fault detection [1,[4][5][6][7].…”