Method for designing DCMFK (Debiased Converted Measurement Kalman filter) based on FPGA (Field Programmable Gate Array)
A Kalman filter and measurement technology, applied in the field of signal processing, to improve performance, save internal resources, and facilitate implementation
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[0055] refer to figure 1 , the FPGA-based debiasing conversion measurement Kalman filter system of the present invention includes: a trigonometric function module, a one-step prediction module, a prediction error covariance module, a gain matrix module, a state update module, a filter error covariance module and a FIFO module. The gain matrix module includes an average true covariance sub-module and a gain matrix sub-module; the state update module includes a coordinate transformation sub-module, an average true deviation sub-module, an innovation sub-module and a state update sub-module. Among them, the floating-point addition, subtraction, multiplication and division operation modules are respectively called in each operation module.
[0056]In this embodiment, the radar is used to track the short-range target, and the radar data output cycle T is 0.8192ms. Select the Singer acceleration model as the dynamic model of the target. The state equation of the system is:
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