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Transputer implementation of Kalman filters

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2 Author(s)
Maguire, L.P. ; Dept. of Electr. & Electron. Eng., Queen''s Univ. of Belfast, UK ; Irwin, G.W.

The paper is concerned with transputer implementations of three forms of the Kalman filter algorithm. Two approaches to a concurrent realisation are considered, involving heuristic partitioning of the conventional sequential algorithm and proposing a new strategy for mapping the systolic array descriptions onto parallel processors. Real-time implementation results on transputer networks are presented and the relative performances evaluated in terms of speed, parallel processing efficiency and numerical accuracy for a test system. This attempts not only to quantify the performances of parallel Kalman filters but also to address the more general issues involved in mapping algorithms onto architectures

Published in:

Control Theory and Applications, IEE Proceedings D  (Volume:138 ,  Issue: 4 )