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To Drop or Not to Drop: Design Principles for Kalman Filtering Over Wireless Fading Channels

Mostofi, Yasamin and Murray, Richard M. (2009) To Drop or Not to Drop: Design Principles for Kalman Filtering Over Wireless Fading Channels. IEEE Transactions on Automatic Control, 54 (2). pp. 376-381. ISSN 0018-9286. doi:10.1109/TAC.2008.2008331.

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It is the general assumption that in estimation and control over wireless links, the receiver should drop any erroneous packets. While this approach is appropriate for non real-time data-network applications, it can result in instability and loss of performance in networked control systems. In this technical note we consider estimation of a multiple-input multiple-output dynamical system over a mobile fading communication channel using a Kalman filter. We show that the communication protocols suitable for other already-existing applications like data networks may not be entirely applicable for estimation and control of a rapidly changing dynamical system. We then develop new design paradigms in terms of handling noisy packets for such delay-sensitive applications. We reformulate the estimation problem to include the impact of stochastic communication noise in the erroneous packets. We prove that, in the absence of a permanent cross-layer information path, packet drop should be designed to balance information loss and communication noise in order to optimize the performance.

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Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2009 IEEE. Manuscript received August 24, 2006; revised September 26, 2007 and May 20, 2008. Current version published February 11, 2009. This technical note wasvpresented in part at ACC’07. Recommended by Associate Editor S. Dey.
Subject Keywords:estimation over wireless links; fading channels; networked control systems
Issue or Number:2
Record Number:CaltechAUTHORS:20090416-092107354
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:13993
Deposited By: Tony Diaz
Deposited On:06 Aug 2009 21:20
Last Modified:08 Nov 2021 22:42

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