Hybrid Transmission Scheduling Protocol for State Estimation Over a Constrained Channel

This article studies the effect of the transmission scheduling protocol for state estimation over a constrained channel. A hybrid transmission scheduling (HTS) protocol mixing the round-robin (RR) protocol with the try-once-discard (TOD) protocol is used to schedule the transmission, where the part of RR contributes to ensure the boundedness of the estimation error covariance. Furthermore, an improved HTS (IHTS) protocol mixing the RR protocol with the improved TOD protocol utilizing the feedback information from the estimator is proposed to improve the estimator's performance. An estimator is designed based on the received measurements, and a sufficient condition of the boundedness of the estimation error covariance with the HTS/IHTS protocol is achieved by constructing an auxiliary system, which is equivalent to the original system with the lifting method. Moreover, the result is extended to channels subject to packet loss. Finally, an example of a moving vehicle is presented to show the effectiveness of the proposed HTS protocol.