The following dissertation attempts to highlight and address the implementation and
performance of a Kalman filter on an FPGA. The reasons for choosing the Kalman filter
and the platform for implementation are highlighted as well as an in depth explanation of
the components and theory behind both are given.
A controller system which allows the optimal performance of the Kalman filter on it is
developed in VHDL. The design of the controller is dictated by the analysis of the
Kalman filter which ensures only the most necessary components and operations are built
into the instruction set. The controller is made up of several components including the
loader, the ALU, Data RAM, KF IO, Control Store and the Branch Unit. The components
working in conjunction allows the system to interface though a handshaking protocol
with a peripheral of arbitrary latency. The control store is loaded with program code that
is determined by converting human readable assembler into machine code through a Perl
encoder. The controller system is tested and verified though an extensive testbench
environment that emulates all outside signals and views internal operations. The
controller system is capable of five matrix operations which are computed in parallel due
to the FPGA development environment, which is far superior in this case to the
alternative: a software solution, due to the vector operations inherent in the Kalman filter
algorithm.
The Kalman filter operation is analyzed and simulated in a MATLAB environment and
this analysis confirms the need for the parallel processing power of the FPGA system
upon which the controller has been built. FPGA statistical analysis confirms the
successful implementation of the system meeting all criteria set at the outset of the
project, including memory usage, IO usage and performance and accuracy benchmarks. / Graduate
| Identifer | oai:union.ndltd.org:uvic.ca/oai:dspace.library.uvic.ca:1828/4365 |
| Date | 17 December 2012 |
| Creators | Bhatia, Zorawar |
| Contributors | Sima, Mihai, McGuire, Michael Liam |
| Source Sets | University of Victoria |
| Language | English, English |
| Detected Language | English |
| Type | Thesis |
| Rights | Available to the World Wide Web |
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