Energy-Efficient Node Scheduling Method for Cooperative Target Tracking in Wireless Sensor Networks

Algorithm 1

Kalman-consensus filter.

Given the initial parameters , for sensor

node at time step

(1) Obtain measurement with covariance .

(2) Compute information vector and matrix of node

        .

(3) Send message to active neighbors.

(4) Receive messages from all active neighbors.

(5) Fuse information matrices and vectors

      .

(6) Compute the Kalman-consensus state estimation

   ,

   ,

   .

(7) Update the estimate state of the target