Abstract：A simplified particle filter algorithm, which introduces a compact threshold-based resampling algorithm and features lower computing power and hardware complexity, is proposed for the bearings-only tracking problem. Based on the proposed algorithm, this paper lays emphasis on the efficient hardware implementation of particle filters on FPGA platform, and presents the hardware architecture of the resample/sample unit and the whole system. Simulation results show that the simplified algorithm outperforms the extended Kalman filter. Experimental study indicates that the implemented particle filter can be used to solve the bearings-only tracking problem and has rather fast processing rate.
2009, Vol. 31 
