An Efficient Transputer Implementation of a Systolic Architecture for Parallel Kalman Filtering
Keywords:
Kalman filter, fadeev algorithm, transputers, occam language, systolic arraysAbstract
The computations involved in Kalman filter
algorithms are highly structured with regular matrix-type
operations. Moreover, Kalman filter algorithms can be
specified as a set of parallel passes rearranged to be the type of
the
Fadeev algorithms for generalizing matrix/vector
manipulations. Based on that, and in order to further improve
the speed of updating the state estimate of Kalman filter
equations and taking full advantage of the two parallel pipeline
structures, a new combined SIMD/MISD (Single Instructions
Multiple Data stream/ Multiple Instructions Single Data
stream) Transputer implementation scheme is presented. This
configuration has expanded the utilization of the two
dimensional systolic architecture and significantly improved
the speed of updating the state estimate and resulted in a
significant saving in processing time complexity compared to
SIMD transputer implementation
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