An arbitrary order Kalman filtering system

Abstract

The invention relates to an arbitrary-order Kalman filtering system, comprising: a configurable memory array comprising a plurality of memory banks, wherein the memory banks are globally shared; a configurable computing array, including single-precision floating-point number multiplier, a single-precision floating-point number adder and a single-precision floating-point number divider; a matrix basic operation module, completing matrix addition, matrix subtraction, matrix transposition and matrix inversion; and the global configurable computing array is shared by time-sharing multiplexing; a state machine, according to the recurrence equation of the Kalman filter algorithm, the matrix basic operation module is called step by step, the intermediate result of the matrix basic operation module is stored in the memory array, and then the intermediate result is called according to the recurrence equation. The invention multiplexes the computing resource array and the storage resource arraythrough time-sharing and folding mode, thereby effectively reducing resources and area, and reducing power consumption. Multi-path parallel method is used to design the basic matrix operation, which can effectively improve the real-time performance and data processing ability of the system design.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to an arbitrary-order Kalman filter system. Background technique [0002] The traditional calculation method is divided into two calculation methods: software calculation and hardware calculation. The main feature of the software computing method is that in an electronic system composed of a microprocessor (CPU, MCU, or DSP), memory, and some simple peripherals, most of the logic processing and computing functions are realized through software programs, while the external The design only plays an auxiliary role; the main feature of the hardware calculation method is that the main calculation work of the system is completed by a specific calculation or processing unit, and the microprocessor is either omitted, or only plays a role in coordinating the work between various components. Both calculation methods have their own advantages and disadvantages. People can only choose a mos...

AI Technical Summary

Problems solved by technology

Since the Kalman filter algorithm has a large number of calculation processes, and the general-purpose processor executes the software program serially, it is difficult for this method to meet the system's operating speed requirements in occasions with relatively high real-time requirements.

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