Event-Triggered State Estimation With an Energy Harvesting Sensor

In this paper, a problem of event-triggered state estimation for a linear Gaussian system with an energy harvesting sensor is investigated. A stochastic energy-dependent event-triggering transmission protocol is proposed to balance the communication rate and estimation performance according to the sensor's battery energy. The joint conditional probability distribution of the state and sensor's energy level on the combined set-valued and point-valued event-triggered measurements available to the remote estimator is derived. Based on this distribution, the recursive minimum mean squared error estimates of the state and sensor energy level are obtained. Also, the relationship between the average communication rate and energy harvesting rate is discussed. Finally, a numerical example is provided to evaluate the effectiveness of the proposed results.