Method for designing DCMFK (Debiased Converted Measurement Kalman filter) based on FPGA (Field Programmable Gate Array)

Abstract

The invention discloses a method for designing a DCMFK (Debiased Converted Measurement Kalman filter) based on an FPGA (Field Programmable Gate Array). Firstly, a system of the DCMFK based on the FPGA is designed. A gain matrix module comprises an average real covariance submodule and a gain matrix submodule; a state update module comprises a coordinate transformation submodule, an average real deviation submodule, an innovation submodule and a state update submodule; a trigonometric function module, a one-step prediction module, a prediction error covariance module, a filter error covariance module, the average real covariance submodule, the gain matrix submodule, the coordinate transformation submodule, the average real deviation submodule, the innovation submodule and the state update submodule respectively invoke floating adding, subtracting, multiplying and dividing operation modules. A hierarchical design is adopted in the method, modules at the bottom layer realize input by utilizing a VHDL (Very High Speed Integrated Circuit Hardware Description Language), and a schematic diagram input manner is adopted by the modules on the top layer; therefore, the method can improve the readability of codes, is easy to divide modules, and is convenient to simulate during designing.

Description

technical field [0001] The invention belongs to the technical field of signal processing, and relates to a radar data processing method, which can be used for target tracking, in particular to a design method of a Kalman filter based on FPGA debiasing conversion measurement. Background technique [0002] Modern radar systems are generally composed of the following two parts, namely: radar signal processing part and radar data processing part. The radar signal processor is used as the first processing, and the processed signal is sent to the radar data processor for the second processing. As one of the functions of radar data processing, target tracking has become an important part of modern radar tracking systems. [0003] In the actual radar target tracking system, the target dynamic model is usually modeled in the Cartesian coordinate system, while the radar measurement is generally obtained in the polar / spherical coordinate system. So radar target tracking becomes a n...

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Problems solved by technology

[0004]The debiasing conversion measurement Kalman filter (DCMKF) is widely used in the radar target tracking system, but because its algorithm contains a large number of matrix addition, subtraction, Operations such as multiplication and inversion require a large amount of calculation

The traditional method is to use a digital signal processor (DSP) to implement DCMKF. The DSP chip is programmable based on software and relies on software instructions to execute serially. Therefore, the inevitable problem is that the power consumption is large and the processing capacity is limited by the main frequency. Therefore, it is difficult to guarantee the real-time performance of the radar target tracking system by using the traditional software method to realize DCMKF

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