Modified Kalman filter for networked monitoring systems employing a send-on-delta method

In this paper, we consider a networked estimation problem in which sensor data are transmitted only if their values change more than the specified value. When this send-on-delta method is used, no sensor data transmission implies that the sensor value does not change more than the specified value from the previously transmitted sensor value. Using this implicit information, we propose a modified Kalman filter algorithm. The proposed filter reduces sensor data traffic with relatively small estimation performance degradation. Through experiments, we demonstrate the feasibility of the proposed filter algorithm.