Unscented Kalman Filter by hatimak

General implementation of Unscented Kalman Filter on FPGA (part of author's Bachelors Thesis work)


FPGA implementation of sigma-point class of non-linear Gaussian filters, namely Unscented Kalman Filter (UKF), Cubature Kalman Filter (CKF), Cubature Quadrature Kalman Filter (CQKF) and Gauss Hermite Filter (GHF). Currently targeted towards Xilinx Zynq-7000 (ZC702) and Digilent Nexys4 DDR boards.

The intuition behind sigma-point class of filters is founded on the principle that it is easier to approximate a probability distribution than it is to approximate an arbitrary non-linear function or transformation. The members of this class of filters accomplish the approximation of a probability distribution by deterministically "sampling" support points (called sigma points) and assigning weight to each of these points. The mean and covariance can then be computed based on the statistics of these "sigma" points.

The implementation uses proprietary Xilinx IP for now and they come with their own set of copyright notices. The aim is to move away from proprietary IP and switch to open-source alternatives.

This work is done, under the supervision of Dr Shovan Bhaumik (Associate Professor, Dept of Electrical Engineering, Indian Institute of Technology Patna), for the partial fulfilment of requirements towards the award of a Bachelors degree. Please feel free to get in touch with the author, Hatim Kanchwala me@hatimak.me, for any details.

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  • Registered on LibreCores 4 years ago
  • Project started 4 years ago
  • Last commit 1 year ago



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v0.1-pre is is the only release.

  • v0.1-pre
    Apr 1, 2018 0b284e5



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Last activity 1 year ago
v0.1-pre released 4 years ago
Primary language: Tcl/Tk
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108 commits by 2 contributors
Hatim Kanchwala Olof Kindgren

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