A Dynamic Variance-Based Triggering Scheme for Distributed Cooperative State Estimation over Wireless Sensor Networks

Wireless sensor networks (WSNs) have been spawning many new applications where cooperative state estimation is essential. In this paper, the problem of performing cooperative state estimation for a discrete linear stochastic dynamical system over wireless sensor networks with a limitation on the sampling and communication rate is considered, where distributed sensors cooperatively sense a linear dynamical process and transmit observations each other via a common wireless channel. Firstly, a novel dynamic variance-based triggering scheme (DVTS) is designed to schedule the sampling of each sensor and the transmission of its local measurement. In contrast to the existing static variance-based triggering scheme (SVTS), the newly proposed DVTS can lead to the larger average intertrigger time interval and thus fewer total triggering number with almost approximate estimation accuracy. Second, a new Riccati equation of the prediction variance iteration for each estimator is obtained, which switches dynamically among the modes related to the variance of the previous step and the recently received measurements from other sensors. Furthermore, the stability issue is also mainly investigated. Finally, simulation results show the effectiveness and advantage of the proposed strategy.