Distributed filtering method and device of wireless sensor network, equipment and storage medium

The invention discloses a distributed filtering method and device for a wireless sensor network, equipment and a storage medium. The method comprises the steps: establishing a distributed filtering system model of the wireless sensor network under a semi-Markov switching topology, wherein the semi-Markov switching topology is topology random change described by using a semi-Markov chain; determining the filtering gain of each node of the wireless sensor network under the distributed filtering system model; and performing state estimation on a sensing object of each node of the wireless sensor network according to the distributed filtering system model. According to the technical scheme, the random transition characteristic of the topology can be comprehensively considered, the application range of the distributed filtering system model is expanded, and the method is close to communication topology transition in actual engineering application. 本发明公开了一种无线传感网络的分布式滤波方法、装置、设备及存储介质。该方法包括：建立无线传感网络在半马尔可夫切换拓扑下的分布式滤波系统