Design and synchronization of Gaussian particle filter using distributed controller scheme

This paper presents design and synchronization method for Gaussian particle filter (GPF) using distributed controller scheme. The GPF has many processing blocks where each processing block computes very complex arithmetic operations. Data dependency among processing blocks in the GPF creates an opportunity for efficient distributed controller, which guarantees correct operation. We verify its correctness using Verilog and SystemC. Each processing block is designed using commercial FPGA and execution characteristics are derived.