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Therefore, a class of distributed consensus Kalman filters was designed to balance the contradiction between them in this paper. Firstly, an event-triggered schedule was designed based on historical data within a timeliness window. Furthermore, considering the relationship between energy consumption and communication distance, a topological transformation schedule with energy-saving is proposed. The energy-saving distributed consensus Kalman filter with a dual event-driven (or event-triggered) strategy is proposed by combining the above two schedules. The sufficient condition of stability for the filter is given by the second Lyapunov stability theory. Finally, the effectiveness of the proposed filter was verified by a simulation.<\/jats:p>","DOI":"10.3390\/s23063261","type":"journal-article","created":{"date-parts":[[2023,3,20]],"date-time":"2023-03-20T03:30:31Z","timestamp":1679283031000},"page":"3261","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Distributed Consensus Kalman Filter Design with Dual Energy-Saving Strategy: Event-Triggered Schedule and Topological Transformation"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4455-6919","authenticated-orcid":false,"given":"Chunxi","family":"Yang","sequence":"first","affiliation":[{"name":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China"},{"name":"Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming 650500, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gengen","family":"Li","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China"},{"name":"Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming 650500, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6857-0315","authenticated-orcid":false,"given":"Guanbin","family":"Gao","sequence":"additional","affiliation":[{"name":"Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China"},{"name":"Yunnan International Joint Laboratory of Intelligent Control and Application of Advanced Equipment, Kunming 650500, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qinghua","family":"Shi","sequence":"additional","affiliation":[{"name":"Yunnan Institute, China Academy of Machinery Science and Technology Group Co., Ltd., Kunming 650031, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2023,3,20]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"483","DOI":"10.1049\/iet-cta.2012.0732","article-title":"Distributed Kalman filtering: A bibliographic review","volume":"7","author":"Mahmoud","year":"2013","journal-title":"IET Control Theory Appl."},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Wang, X., Zhang, H., Han, L., and Tang, P. 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