Abstract: Information transferring process in sensor network will appear delay, out-of-sequence even dropout. How to make full use of such information is extremely important to improve state estimation accuracy. In order to further overcome the problems in the existing methods, a novel delay measurement filter based on the pseudo-measurement model library is proposed in this paper. Firstly, a pseudo-measurement model library under finite delay case is built for the linear time invariant system with the invariant parameters property. Secondly, according to current time arrival delay or real time measurement, the corresponding model is selected in the model library. Thirdly, a new hybrid filter with predict-estimator, filter-estimator and fusion-estimator is proposed for the system described by the selected measurement model and the state model. The simulations illustrate the effectiveness and optimality of the proposed method.