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Both sampling frequency offset estimate and carrier frequency offset estimate are fed to two second-order digital phase-locked loop (DPLL) filters whose block diagram is presented in Figure 5. Coefficients and are the proportional and integral coefficients, respectively.

The local estimate is input into the global fusion and the obtained global estimate is fed back to the local estimator to achieve iterative optimization-based improvement in both local and global estimates.

When the global estimate is fed back, can be determined.

The global estimate is fed back to local filters for improving the local estimates using (24).

Here, the channel estimate is fed back to the transmitter, and its (pseudo- inverse is used as a linear pseudo- inverse

If object is seen by camera pair in the local estimate, the output of the local estimate is fed into the global estimate with global estimate matrix.

Both the runtime computational and space complexity of β-CUSUM are O(1); each time a new drop probability estimate is fed to the algorithm, we incrementally compute the mean value and the standard deviation of the estimates seen so far.

The roughness estimates are fed to a proportional-integral (PI) controller.

The perturbed estimates were fed back to the estimator, and the optimization ran again until convergence.

At the second stage, local estimates of the state and the UI are distributively fused via network consensus to obtain the consensus state and UI estimates which are fed back to refine the local bias estimate.

Therefore the disturbances can be estimated either by PI or GPI observer, and then the estimated signals are fed back to the controller.