基于System Generator的简化粒子滤波算法设计及硬件实现

A Simplified Particle Filter Algorithm Based on System Generator: Design and Hardware Implementation

针对粒子滤波计算量大、硬件实现困难的问题,提出了一种用于纯方位跟踪的简化粒子滤波算法,并通过Xilinx System Generator在FPGA上实现。首先,对通用粒子滤波算法进行适当简化,使其减少计算量并且易于硬件实现;其次,采用模块化设计,利用状态机综合并实现各个模块的时序控制;最后,转换为硬件语言,完成硬件仿真。仿真结果表明,所设计的简化粒子滤波算法各个模块工作正常,且具有较好的跟踪精度及运行速度,可用于非线性、非高斯系统的粒子滤波实现,对于粒子滤波的硬件实现方面具有一定的参考价值。

To solve the problems of large computational complexity and difficult hardware implementation of particle filters,the paper presents a simplified particle filter algorithm for bearings-only tracking,and uses Xilinx System Generator for its implementation on FPGA. Firstly,the generic particle filter algorithm is simplified to reduce calculation quantity and make it easy to implement. Secondly,the modular design is adopted,and the state machine is used to synthesize and realize the sequential control of each module.Finally,the algorithm is converted to hardware language to complete the hardware simulation. The simulation results show that： each module of the simplified particle filter algorithm functions properly and the algorithm has a good tracking accuracy and running speed,which can be used in the implementation of the particle filter in non-linear and non-Gaussian systems. It provides a reference for the hardware implementation of particle filters.