High-performance FPGA-based implementation of Kalman filter

Abstract An FPGA-based fully hardware Kalman filter has been designed and presented and a reconfigurable Kalman filter-based coprocessor in FPGAs has been proposed. High-speed arithmetic function implementations and pipelining have been used and a substantial improvement in performance has been gained. The cycle time (one iteration) for computing Kalman filter is reduced from 1.8274 μs in our previous design to 0.4013 μs. The performance gained in our approach includes two to four orders of magnitude higher speed than other implementations. The high-speed, recongifuration and easy-to-develop characteristics of the FPGA-based Kalman filter will largely broaden the real-time application area of Kalman filter.

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