在假设测量没有丢包的情况下,研究了带有随机测量时滞的网络控制系统的最优估计问题.利用已知的时滞分布概率,建立新的模型来描述随机时滞测量.进一步将带有时滞的测量等价成每个通道是单时滞的多通道测量,从而利用新息重组方法,通过求解黎卡提方程求解最优估计器.最后给出仿真实例验证了该算法的有效性. Under the assumption of no packet loss, the optimal estimation problem of networked control system with stochastic measurement delay is studied. Using the known delay distribution probability, a new model is established to describe the stochastic delay measurement. The measurement with delay is equivalent to multi-channel measurement with single delay per channel, so that the optimal estimator can be solved by solving the Riccati equation by using the innovation recombination method. Finally, a simulation example is given to verify the effectiveness of the algorithm Sex.