Periodicity of Kalman-based scheduled filters |
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Authors: | Luis Orihuela Antonio Barreiro Fabio Gómez-Estern Francisco R Rubio |
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Affiliation: | 1. Dpto. de Matemáticas e Ingeniería. Escuela Técnica Superior de Ingeniería. Universidad Loyola Andalucía, Spain;2. Dpto. de Ingeniería de Sistemas y Automática. Escuela Superior de Ingenieros Industriales. Universidad de Vigo, Spain;3. Dpto. de Ingeniería de Sistemas y Automática. Escuela Superior de Ingenieros. Universidad de Sevilla, Spain |
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Abstract: | In this paper, the sensor scheduling problem for estimation is tackled, in which a set of sensors must share a common network to communicate their measurements. It is shown that, under some mild conditions, a Kalman-based scheduled filter results in a periodic selection of the sensors. In those cases, the computational cost and energy consumption can be reduced, as the sensors can await asleep between two consecutive measurements. A suboptimal one-step ahead strategy is thoroughly studied as a possible example of observation scheme. |
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Keywords: | Sensor scheduling Kalman filter Periodic observers |
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