The Research And Realization Of Improved Particle Filter Algorithm On FPGA Platform

Developing in 90's last century,Particle filter,a new filter method based on Monte Carlo and recursive Bayesian estimation,has special advantages in dealing with the state and the parameter estimation in the nonlinear and non-Gaussian system. However,the disadvantages of complex algorithm architecture,enormous computations and low speed have restricted its implementation in real-time system.This thesis aims to reduce the complexity of the particle filter algorithm and increase the computation speed,then,a particle filter which has high compute speed,reliability and uses less hardware resource is designed for using in the real time system.Field Programmable Gate Array is a hardware logic device,which implements the real parallel computation.The Spartan-3 series of Xilinx FPGA is high cost-effective. According to the actual needs of users and different emphasis in the application,Xilinx has designed many different series based on the same technology of Spartan-3,such as Spartan-3E,Spartan-3A and so on.In this thesis,the Spartan-3A platform is selected for the hardware realization of improved particle filter algorithm.This thesis,at first,introduces the particle filter research at home and abroad. Secondly,it describes the correlative contents and the basic theory of particle filter in detail.Then taking the bearing-only system as the model,the basic process of particle filter is given。Through analyzing the complexity and parallel of algorithm,the steps of normalized weight and resampling are improved.Using bearing-only system object tracking as example,the improved algorithm is simulated to verify the correctness. Finally,the FPGA software ISE is used to design the module of improved particle filter algorithm and the effectiveness of the design is verified.Then each module is connected to generate the file for download and the improved particle filter algorithm is verified in Spartan-3 a development board.In this thesis,the improved particle filter algorithm has been designed and implemented on FPGA platform.The waveform simulation and the report of resource using indicate that this improved algorithm,with its characteristics of high speed,using small resource,can be used in real-time system,such as object tracking,image processing,parameter estimation etc.