A Fast Implementation of the Extended Kalman Filter on FPGA for UAV Applications

AKTAŞ H., SEVER R.

4th International Conference on Materials Engineering for Advanced Technologies (ICMEAT), London, Canada, 27 - 28 June 2015, pp.602-605 identifier

  • Publication Type: Conference Paper / Full Text
  • City: London
  • Country: Canada
  • Page Numbers: pp.602-605
  • Keywords: Extended Kalman Filter, FPGA, Unmanned Aerial Vehicle (UAV)
  • Akdeniz University Affiliated: Yes

Abstract

Extended Kalman Filter algorithm is widely used in UAV applications. Fast operation of the algorithm is important for precisely calculating the attitude of the UAV. In this paper, we present a very fast FPGA implementation of the Extended Kalman Filter algorithm. A dedicated processor is designed using verilog-HDL and logical blocks are used to accelerate the algorithm. Maximum operating frequency of the FPGA is 130MHz and the propagation of the state, which is the critical path of the algorithm, is completed at 1050 clock cycles (8.074 mu s).