Optimized filtering method of state saturation mass spring system under dynamic and static hybrid protocol

The invention discloses an optimized filtering method of a state saturation mass spring system under a dynamic and static hybrid protocol. The method comprises the following steps: 1, establishing a dynamic model of the state saturation mass spring system under the influence of the dynamic and static hybrid protocol; 2, designing a state saturation filter based on the mass spring system dynamic model; 3, calculating a prediction error covariance upper bound theta < i, h + 1 h > of the ith node at the h < th > moment by solving the matrix equation; 4, calculating the filter gain # imgabs0 # of the ith node at the (h + 1) th moment according to theta i and h + 1h, 5, substituting the filter gain # imgabs0 # into a filter according to # imgabs1 # to obtain the filtering # imgabs2 # of the ith node at the (h + 1) th moment, judging whether the current moment h + 1 reaches the total duration T or not, if h + 1 is less than T, executing 6, and otherwise, ending the operation; 6, obtaining a filtering error covarian