Simplifying Physical Realization of Gaussian Particle Filters with Block-Level Pipeline Control
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Simplifying Physical Realization of Gaussian Particle Filters with Block-Level Pipeline Control Sangjin Hong Department of Electrical and Computer Engineering, Stony Brook University (SUNY), Stony Brook, NY 11794-2350, USA Email: [email protected]
Petar M. Djuri´c Department of Electrical and Computer Engineering, Stony Brook University (SUNY), Stony Brook, NY 11794-2350, USA Email: [email protected]
Miodrag Boli´c School of Information Technology and Engineering, University of Ottawa, Ottawa, ON, Canada K1N 6N5 Email: [email protected] Received 30 March 2004; Revised 25 September 2004; Recommended for Publication by Andy Wu We present an efficient physical realization method of particle filters for real-time tracking applications. The methodology is based on block-level pipelining where data transfer between processing blocks is effectively controlled by autonomous distributed controllers. Block-level pipelining maintains inherent operational concurrency within the algorithm for high-throughput execution. The proposed use of controllers, via parameters reconfiguration, greatly simplifies the overall controller structure, and alleviates potential speed bottlenecks that may arise due to complexity of the controller. A Gaussian particle filter for bearings-only tracking problem is realized based on the presented methodology. For demonstration, individual coarse grain processing blocks comprising particle filters are synthesized using commercial FPGA. From the execution characteristics obtained from the implementation, the overall controller structure is derived according to the methodology and its temporal correctness verified using Verilog and SystemC. Keywords and phrases: particle filters, Gaussian particle filter, distributed controller, block-level pipelining.
1.
INTRODUCTION
Particle filter has been studied theoretically and its feasibility has been demonstrated in the literature [1, 2, 3, 4, 5, 6, 7]. They perform extremely well in estimating unknown variables in many statistical signal processing problems including channel estimation in wireless communication and tracking variables in bearings-only tracking applications [8, 9, 10, 11]. However, realizing particle filters in hardware is not trivial. The algorithms consist of many complex processing blocks that are executed in both parallel and sequential nature. Direct one-to-one mapping from the operations of algorithm to the processing blocks in hardware implementation may result in complicated overall controller structure. Moreover, an efficient controller generation may even become practically intractable, or tedious, mainly due to the shear complexity of the algorithms. Hence, the main design issue in the particle filters realization is the development of their overall controller to completely maintain the concurrency of the filtering operations. The objective of this paper is to present a
design methodology to simplify the overall physical design process in the particle filter realization. At algorithmic level, particle filters work on block
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