Open AccessParallelized Particle Filter with Efficient Pipelining on FPGA for Real-Time Ballistic Target Tracking
Author(s) -
Daeyeon Kim,
Heonchoel Lee,
Hyuck-Hoon Kwon,
Yeji Hwang,
Wonseok Choi
Publication year - 2023
Publication title -
ieee access
Language(s) - English
Resource type - Journals
ISSN - 2169-3536
DOI - 10.1109/access.2023.3317896
Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation
In this paper, the problem of a real-time ballistic target tracking is addressed. Because the tracking process can be affected by the uncertainty in models and disturbances, probabilistic filters have been applied to solving the ballistic target tracking problem. Particle filters (PFs) can be used as a probabilistic filter because of their advantages of dealing with non-Gaussian models. However, since the PFs require too much computational costs, it is hard to apply the PFs to real-time systems for ballistic target tracking. The Graphic Processor Unit (GPU) can be considered to accelerate the PFs in the parallelization manner. But, the GPU-based parallelization requires too much power consumption, which means that it is difficult to be applied to the ballistic target tracking system due to the heat problem caused by the excessively increased power consumption. This paper proposes a practical approach which is a parallelized particle filter based on a heterogeneous processing system including a field-programmable gate array (FPGA) to accelerate the ballistic target tracking process by parallelizing the PFs while avoiding the heat problem. The evaluation results with a real heterogeneous processing system showed that the proposed approach could successfully conduct the ballistic target tracking and accelerate the PFs over four times.