Iterative Joint Detection of Kalman Filter and Channel Decoder for Sensor-to-Controller Link in Wireless Networked Control Systems

In this letter, we propose an iterative joint detection algorithm of Kalman filter (KF) and channel decoder for the sensor-to-controller link of wireless networked control systems, which utilizes the prior information of control system to improve control and communication performance. In this algorithm, we first use the KF to estimate the probability density of the control system outputs and calculate the prior probability of received signals to assist decoder. Then, the possible outputs of the control system are traversed to update the prior probability in order to implement iterative detection. The simulation results show that the prior information and the iterative structure can reduce the block error rate performance of communications while improving the root mean square error performance of controls.