基于fpga的非线性滤波算法实现研究-模式识别与智能系统专业论文.docxVIP

AbstractAbstract Abstract Abstract With the development of technology,target tracking has got more and more widely application in military and civilian field．Target tracking system’S performance is affected by the number of objectives，density and dynamic performance etc．Under complex conditions，the nonlinear relationship between sensor measurements and target state makes the nonlinear filtering the difficult and hot issues．However,the nonlinear filtering algorithms、历tll high precision often have a large amount of calculation and a poor real-time．FPGA has a strong parallel computing capability,making full use of it will greatly improve the computing speed of the nonlinear filtering algorithms． Aming to the problem above，this paper focuses on the research on FPGA implementation of Quasi·-Monte·-Carlo Gaussian Particle Filter(QMC·-GPF)and Unscented Kalman Filter(UKF)． Based on the analysis of the QMC-GPF principle and structure，a parallel processing structure is proposed：parallel QMC module and parallel GPF module．Base 2 is used to generate Faure sequences，instead of multiplication and mod only bitwise XOR，which is easily to realize on FPGA，is needed to generate the sequences．Look—up tables are used in calculating the complex functions such as exponential function,which make full use of the large number of Block RAM of FPGA．The parallel structure is designed to compute the elements of Cholesky decomposition matrix．DSP48Es are used to realize floating point multiplication and addition，which improve the precision and speed．Infrared imaging dim small target tracking is reali．zed on FPGA and the results show the efficiency and real time of the design． Based on the analysis of the UKF principle and structure，a parallel processing structure is proposed：parallel Unscented Transformation module and parallel Kalman Filter module．The Cholesky decomposition of the diagonal block matrix is converted into sub-matrix on the diagonal Cholesky decomposition，reducing the dimension of d