Distributed Consensus Kalman Filter Design with Dual Energy-Saving Strategy: Event-Triggered Schedule and Topological Transformation.

In the distributed information fusion of wireless sensor networks (WSNs), the filtering accuracy is commonly negatively correlated with energy consumption. Therefore, a class of distributed consensus Kalman filters was designed to balance the contradiction between them in this paper. Firstly, an event-triggered schedule was designed based on historical data within a timeliness window. Furthermore, considering the relationship between energy consumption and communication distance, a topological transformation schedule with energy-saving is proposed. The energy-saving distributed consensus Kalman filter with a dual event-driven (or event-triggered) strategy is proposed by combining the above two schedules. The sufficient condition of stability for the filter is given by the second Lyapunov stability theory. Finally, the effectiveness of the proposed filter was verified by a simulation.