Presents an algorithm which can be used to achieve complete decentralization of Kalman filter algorithm amongst sensing nodes of a multi sensor system, and points out the algorithm can be used for position estimation in Robot Soccer because it does not require any form of central processing facility or centralized communications medium, and illustrates with a simulation example that it is very effective. Presents an algorithm which can be used to achieve complete decentralization of Kalman filter algorithm amongst sensing nodes of a multi sensor system, and points out the algorithm can be used for position estimation in Robot Soccer because it does not require any form of central processing facility or centralized communications medium, and illustrate with a simulation example that it is very effective.