基于FPGA的Kalman滤波器实现研究

卡尔曼（Kalman）滤波计算精度和速度是工程应用中是否成功的决定性条件，为进一步提高Kalman滤波算法在更复杂的环境下使用的性能，并能够同时满足实时性和精度的要求，采用现场可编程逻辑阵列（FPGA）技术，设计了Kalman滤波算法在FPGA上的实现方案，选择了一种可以同时满足精度和实时性的方案进行实现，对算法中的矩阵相乘、状态机的应用以及资源分时复用等关键技术进行了设计。通过与Matlab及DSP的计算结果相对比，验证了在FPGA内实现Kalman滤波器的优势。

Design and implementation of Kalman filter based on FPGA

The calculation precision and speed of Kalman filtering are the key factors in application.Aiming to improve the performance of Kalman filtering algorithm applied to a more complex condition and meet the requirements of high accuracy and real-time performance,a scheme for implementing the Kalman filtering algorithm was designed with FPGA technology.Some key techniques such as the multiplication of matrixes,the application of finite state machine and the same source usage at different time were designed.The superiority of implementing the Kalman filter in FPGA was validated by comparing the verified results of Kalman filter implemented in FPGA with the calculated results of Matlab and DSP respectively.