基于并行结构实现修正的扩展Kalman滤波计算
A Parallel Architecture for Modified Extended Kalman Filter
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摘要: 该文基于平方根算法提出了一种新的脉动阵列结构实现修正的扩展Kalman滤波计算, 使得计算的数值稳定性得到了提高,同现有文献相比,该文使用的算法和结构在计算的实时性 和处理器的利用率都得到了较大的提高.Abstract: A new systolic architecture based on the square-root algorithm for parallel Modified Extended Kalman Filter (MEKF) is proposed in this paper. This algorithm is more numerical stable. Comparing with other systolic arrays implementing square root MEKF existing in literatures, this systolic architecture with algorithm in this paper has higher efficiency and uses fewer time-steps for a complete iteration at each instant.
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Key words:
- Parallel algorithm /
- Systolic array /
- Kalman filter
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