Implementation of a tracking Kalman filter on a digital signal processor
- 1 February 1988
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Industrial Electronics
- Vol. 35 (1) , 126-134
- https://doi.org/10.1109/41.3075
Abstract
A Kalman filter for tracking moving objects has been implemented on a TMS32010 digital signal processor. Tracking accuracy and quantization effects of the implementation have been measured by comparing the filter to one implemented on a general-purpose computer with a 32 bit word length. The filter design has been optimized to minimize the program memory requirements and execution speed. Although the filter has been implemented on a specific signal processing chip, the design is general enough to be applicable to any other digital signal processor. The filter can be used for tracking objects for industrial or other applications where range and bearing measurements are available. For motion on a plane, the filter can be used to track objects where the maximum system bandwidth is 1680 Hz; for three-dimensional motion the system bandwidth is 1120 Hz. Using the approach presented, higher system bandwidth can be accommodated through higher-speed digital signal processors.<>Keywords
This publication has 2 references indexed in Scilit:
- An Adaptive Two-Dimensional Kalman Tracking FilterIEEE Transactions on Aerospace and Electronic Systems, 1980
- Optimum Steady-State Position and Velocity Estimation Using Noisy Sampled Position DataIEEE Transactions on Aerospace and Electronic Systems, 1973