A Parallel Architecture for Modified Extended Kalman Filter
基于并行结构实现修正的扩展Kalman滤波计算

A new systolic architecture based on the square-root algorithm for parallel Modified Extended Kalman Filter (MEKF) is proposed in this paper. This algorithm is more numerical stable. Comparing with other systolic arrays implementing square root MEKF existing in literatures, this systolic architectute with algorithm in this paper has higher efficiency and uses fewer time-steps for a complete iteration at each instant.