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

Table 1

Average quadratic estimation error of sensor in different cases of the SVTS and the DVTS.

	Straight trajectory		Sinusoidal trajectory
	AQEE-SVTS	AQEE-DVTS	AQEE-SVTS	AQEE-DVTS
Sensor 1	0.4127	0.4360	0.6662	0.6745
Sensor 2	0.6180	0.7472	0.8747	0.9708
Sensor 3	0.7098	0.8065	0.9753	1.0189
Sensor 4	0.7711	0.8494	1.0449	1.1013
Sensor 5	0.8106	0.8775	1.0787	1.1196
Average	0.6644	0.7433	0.9280	0.9770