粒子滤波算法的硬件优化设计-电路与系统专业论文.docxVIP

浙江大学硕士学位论文 浙江大学硕士学位论文 摘要 摘要 粒子滤波算法在非线性、非高斯的状态估计问题中具有广阔的应用前景，但庞大的计 算量限制了其在实时系统中的应用，而硬件实现为此提供了有效的解决手段。本文针对粒 子滤波集中式和分布式硬件设计中的速度和存储问题，提出了多种优化方案。 在集中式结构中，为降低重采样的存储开销，提出了状态回写和权重存储器复用技术， 避免了传统结构中粒子索引存储器和复制因子存储器的使用；为降低采样中粒子状态的存 储需求，本文将粒子状态分解为一初始状态与状态编码表示的两状态之差，实现了状态的 压缩；为提升处理的速度，在硬件中引入了有效粒子数的判断和间隔重采样方法，降低了 重采样的发生次数，并进一步提出了一种局部权重均值比较机制，成倍提升了滤波的效率． 在分布式结构中，提出了权重排序机制，包括权重全排序和部分排序，用以平衡各处 理单元内的粒子权重和，避免了粒子的再分配过程；同时提出了分层重采样方法，包括粗 粒度分层和细粒度分层，将重采样以层次形式展开，并在统计上获得了与集中式重采样相 同的结果．相对于传统的结构，基于上述两种方法的分布式结构在处理速度、存储开销和 滤波精度上均达到了更好的平衡。 关键词：粒子滤波状态压缩局部权重均值比较权重排序 分层重采样 Il AbstractParticle Abstract Particle filters have shown great promise in dealing with non．．1inear and non．．Gaussian state estimation problems．However,their applications to practical real-time scenarios are severely restricted due to their inherent computational complexities．Therefore，it is necessary,under such circumstances，to turn to their hardware implementations．This paper puts forward multiple optimizations for both centralized and distributed architectures of particle filters from the point of speed and memory． In centralized architecture，We reduce the memory utilization of resampling by state rewriting and reuse of the weight memory,which make it unnecessary to USe dedicated index memory and replicated factor memory；meanwhile，We reduce the memory requirement of state Storage in sampling by state compression in which a particle state is decomposed into an initial state and a code indicating the devimion of the two states．To speed up filtering processing，the judgment of effective particle numbers as well勰interval resampling is introduced to decreaSe the times of resampling；further,a local weight mean comparison scheme is proposed，improving the speed by times． In distributed architecture，a weight sorting scheme is proposed，including complete sorting and partial sorting，to avoid the redistribution of particles by balancing the weight summations of each processing element．Also presented is a hierarchical resampling method．While