Distributed event-Triggered cubature information filtering based on weighted average consensus

To deal with the distributed estimation problem for mobile sensor networks with non-linear systems and a large amount of data transfer, the distributed event-Triggered cubature information filtering based on weighted average consensus is proposed. The filter benefits from the non-linear filtering algorithm with consensus technique and event-Triggered mechanism which reduces the amount of data transfer. The triggering decision is based on the data transmission mechanism, which is that each sensor makes a request to exchange information with its neighbours only if the difference between the most recent transmitted estimate and the current estimate exceeds a tolerable threshold. The estimation error of the proposed filter is proved to be bounded in mean square. Finally, numerical examples are provided to demonstrate the effectiveness of the theoretical results.