  State estimation is a fundamental problem for multi-sensor information
fusion, essential in applications such as target tracking, power systems, and
control automation. Previous research mostly ignores the correlation between
sensors and assumes independent or known distributions. However, in practice,
these distributions are often correlated and difAcult to estimate. This paper
proposes a novel moment constrained marginal distributionally robust Kalman
Alter (MC-MDRKF) for centralized state estimation in multi-sensor systems.
First, we introduce a marginal distributional uncertainty set using a
moment-constrained approach, which can better capture the uncertainties of
Gaussian noises compared to Kullback-Leibler (KL) divergence-based methods.
Based on that, a minimax optimization problem is formulated to identify the
least favorable joint distribution and the optimal MMSE estimator thereunder.
It is proved that this problem can be reformulated as a convex optimization
problem, allowing for efficient solution Anding. Subsequently, by accounting
for marginal distributional uncertainty within the state space model, the
proposed MC-MDRKF is devised in a minimax approach. Simulation result
demonstrates the robustness and superiority of the proposed method in a
multi-sensor target tracking scenario.
