并行卡尔曼滤波及其心动阵列实现综述

A Survey for Systolic Implementation of Parallel Kalman Filtering

中文关键词  并行处理  心动阵列处理器  卡尔曼滤波  平方根滤波  推广卡尔曼滤波

英文关键词  parallel processing  systolic array processor  Kalman filtering  square-root Kalman filtering  extended Kalman filterinng

中文摘要

      本文综述了基于心动（Systolic）阵列结构的并行卡尔曼滤波各种算法及其心动阵列实现，对各种阵列滤波算法在处理单元数，计算时间和效率等方面进行了比较，并对进一步的研究工作提出一些展望。

英文摘要

      Focused on the principle of parallel for Kalman filtering, a variety of published systolic algorithms for standard, square-root and extended Kalman filtering are reviewed and summarized in this paper. For different systolic array implementation of parallel Kalman filtering, the number of processors required, the number of time-step for each iteration and the processor utilization or efficiency are listed for comparison with each other. Finally, the suggestion for future development of parallel Kalman filtering are presented.