This paper explores the distributed multisensor asynchronous sampling dynamic system; a new asynchronous fusion algorithm of multisensor dynamic system based on step by step prediction fusion is put forward.

Failure detection is based on the Chi-square statistic hypothesis test and performed by checking the consistency between the outputs of the local sensors and that of the fusion measurement predictor,which is served as the common failure detection reference.

To resolve the problem,a measurement fusion algorithm for uncertain measurement was presented.

Currently there exist several asynchronous measurement fusion algorithms,namely,firstly strict synchronizing sensors asynchronous data and deal with them with parallel or pseudo-sequential filter.