Analysis of real-time tracking filters implementation in FPGA

This paper presents real time tracking hardware based on field programmable gate arrays (FPGA). Traditionally, tracking system is simulated in MATLAB environment and an equivalent hardware description language (HDL) code is written for FPGA. But, in this paper a simulated and verified MATLAB code is directly converted into HDL which is used in FPGA. This method improves the efficiency of the real time tracker and flexibility in usage of FPGA. Moreover, the simulated and hardware outputs will be consistent. Three types tracking algorithm namely Kalman filter (KF), extended Kalman filter (EKF), and alpha beta gamma filter are implemented to validate the proposed approach.