关键词: 卡尔曼滤波器, 目标跟踪, IEEE754, 浮点数运算, 实时性

Abstract:

Based on the traditional hardware implementations of Kalman filter, the authors derive and simplify the filtering formulas according to the filtering model and matrix operations, and then design underlying FPU (float point unit) needed by the filtering formulas according to the “bottom-up” design thinking, to implement the complete Kalman filter system. The Kalman filter designed by this method not only gets rid of dependence on third-party platforms and increase the portability and application areas of filtering system, but the filtering speed improves significantly than traditional matrix operation method. For a constant acceleration filtering model, this paper provides detailed data comparison between formula derivation method and traditional matrix operation method, the Kalman filter designed by this method maintains the accuracy of the previous level and achieves the computing speed 2.1 times, compared with the traditional matrix operation method.

Key words: Kalman filter, target tracking, IEEE754, floating-point operation, real-time