Algorithm 1 Data filtering operation

INPUT: sensor reading $z\left(t\right)$   $e\_max$ = user input   while true do    if $z\left(t\right)$ is the first reading then     $cached\_z\left(i\right)\leftarrow$ zt(i)     Send $z\left(t\right)$ to the fuser    else     if $cashed\_z\left(i\right)$ ! = $z\left(t\right)$ then      $cached\_z\left(i\right)\leftarrow$ z(t)      Call kalman filter to calculate estimated value      $e\left(t\right)\leftarrow z\left(t\right)-x\left(t\right)$      if $\left|e\left(t\right)\right|>e_{max}$ then       $fd\left(i\right)\leftarrow z\left(t\right)$       Send $fd\left(i\right)$, $R\left(i\right)$ and $H\left(i\right)$ to the data fusion layer      else       Discard $x\left(t\right)$ and $z\left(t\right)$ values      end if     end if    end if   end while