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, Kanada, 27 - 28 Haziran 2015, ss.602-605 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: London
  • Basıldığı Ülke: Kanada
  • Sayfa Sayıları: ss.602-605
  • Anahtar Kelimeler: Extended Kalman Filter, FPGA, Unmanned Aerial Vehicle (UAV)
  • Akdeniz Üniversitesi Adresli: Evet

Özet

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).