REAL-TIME IMPLEMENTATION OF A NARROW-BAND KALMAN FILTER WITH A FLOATING-POINT PROCESSOR DSP32

被引：20

作者：

YEH, HG

机构：

[1] Magnavox Advanced Products and Systems Company, Torrance, CA

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 1990年 / 37卷 / 01期

关键词：

D O I：

10.1109/41.45838

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the experimental results of two studies. First, a real-time narrow-band Kaiman filter is implemented with a floating-point digital signal processor DSP32. The real-time capability of this narrow-band filter is investigated by varying parameters Q and R. The covariance matrices Q and R of the dynamic and measurement noise sequences are found to exhibit duality in the real-time tuning process and have a direct effect on system stability. If the value of Q used is smaller (with fixed R), the tracking time and the narrower tracking bandwidth of the filter will be longer. In addition, if the value of R used (with fixed Q) is smaller, the tracking time will be smaller, and the tracking bandwidth of the filter will be larger. The results are tabulated. Second, two optimal codes (in the sense of the executional speed), straight-line code and general matrix-based code, have been developed for implementing the narrow-band Kaiman filter. These two codes are compared in terms of program memory size, data memory size, and speed of execution. With the matrix-based code, the DSP32 performance is evaluated in terms of speed and memory size by varying the number of states of a Kaiman filter. The results are also tabulated. © 1990 IEEE

引用

页码：13 / 18

页数：6

共 9 条

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