PARALLEL MATRIX MULTIPLICATION CIRCUITS FOR USE IN KALMAN FILTERING

Rafal Dlugosz, Katarzyna Kubiak, Tomasz Talaska, Inga Zbierska-Piątek

DOI Number
10.2298/FUEE1904479D
First page
479
Last page
501

Abstract


In this work we propose several ways of the CMOS implementation of a circuit for the multiplication of matrices. We mainly focus on parallel and asynchronous solutions, however serial and mixed approaches are also discussed for the comparison. Practical applications are the motivation behind our investigations. They include fast Kalman filtering commonly used in automotive active safety functions, for example. In such filters, numerous time-consuming operations on matrices are performed. An additional problem is the growing amount of data to be processed. It results from the growing number of sensors in the vehicle as fully autonomous driving is developed. Software solutions may prove themselves to be insuffucient in the nearest future. That is why hardware coprocessors are in the area of our interests as they could take over some of the most time-consuming operations. The paper presents possible solutions, tailored to specific problems (sizes of multiplied matrices, number of bits in signals, etc.). The estimates of the performance made on the basis of selected simulation and measurement results show that multiplication of 3×3 matrices with data rate of
20 100 MSps is achievable in the CMOS 130 nm technology.


Keywords

Matrix multiplication, Parallel circuits, asynchronous solutions, Kalman filter, automotive applications, CMOS

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References


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