Regular and fault-tolerant Kalman filter systolic arrays

Details Regular and fault-tolerant Kalman filter systolic arrays Regular and fault-tolerant Kalman filter systolic arrays

1991-07-05

1994-06-21

Harvey, Jack B.

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36472417, G06F 738

Patent

active

053233352

ABSTRACT:
A Kalman filter, for a dynamic system having a number N of different states and another number M of observational components, uses a fixed rectangular systolic array of N.times.(N+1) parallel data processing elements for a regular filter, and uses an array of (N+2).times.(N+3) processing elements for a fault-tolerant filter; the processing elements in either configuration are connected in a four-nearest-neighbors network. Each processor is capable of carrying out a commanded one of a plurality of different vector-data operations sets during each of eight passes through the array. The systolic array operates on the matrices in a pipeline manner, so that each pass through the processor array feeds the result back into the array to begin the next computation.

REFERENCES:
patent: 4823299 (1989-04-01), Chang et al.
"Two-Dimensional Systolic Array for Kalman-Filter Computing" for Oct. 1988, NASA Tech Brief vol. 12, No. 9, Item #116 from JPL Invention Rpt. NPO-17108/6624, NASA, Contract No. NAS 7-100. Inventors: J. J. Chang, H. Yeh, invention report prepared by R. S. Jamieson, Jet Propulsion Laboratory, Pasadena, Calif.

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