Event-Triggered Distributed Moving Horizon Estimation Over Wireless Sensor Networks

This work proposes a fully distributed moving horizon estimation method with an event-triggered communication strategy over wireless sensor networks. The proposed method calculates a local state estimation of each sensor by minimizing a quadratic objective function, which involves a fused arrival cost that is computed in a distributed manner. This approach adjusts data transmission rate by selectively transmitting local information and allows the incorporation of constraints on the noise and state variables. In addition, the estimation error is proved to be uniformly bounded in the mean square sense under the condition that the network topology is strongly connected and the system is collectively observable. Finally, a target tracking example is presented to demonstrate the validity of the proposed approach.