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本文提出了跟踪运动物体的卡尔曼滤波器的完整设计过程.滤波器是在TMS320数字信号处理器(DSP)上实现的,和模拟结果比较,分析了滤波器的精度及量化误差的影响.尽管该滤波器是专用DSP构造的,但设计方法也适用于其它类型的DSP.该滤波器可以用来滤除运动物体位置测量信号中的噪声.对一个二维运动物体,单字长精度的滤波器带宽可达1.68kHz.
In this paper, a complete design process of Kalman filter for tracking moving objects is presented. The filter is implemented on a TMS320 digital signal processor (DSP) and compared with the simulation results to analyze the effects of the filter accuracy and quantization error. The filter is built using a dedicated DSP, but the design method is also applicable to other types of DSP. The filter can be used to filter out noise from moving object position measurement signals. For a two-dimensional moving object, a single-word precision filter Bandwidth up to 1.68kHz.