中文摘要：

基于可重复配置硬件的现代设计技术,对Kalman滤波器的硬件实现进行了研究。应用FPGA硬件丰富、灵活以及并行运算的特点,根据＂先时序后电路＂的设计思想,采用自顶向下的同步设计方法进行了浮点Kalman滤波器的硬件设计。分析了Kalman滤波器的工作原理,并利用Intellectual Property（IP）核和分时复用技术对硬件结构进行了优化。最后以提高全球定位系统（GPS）精度为应用背景对所设计的滤波器进行仿真验证,Modelsim仿真实验结果表明,该浮点Kalman滤波器的硬件设计不但实时性高,而且节省资源,利于硬件实现,具有实际应用价值。

英文摘要：

Based on modem design technology of reconfigurable hardware, the hardware implementation of Kalman filter is studied. Applying plentiful resources of FPGA and its flexibility and parallel computation, according to the ＂first timing later circuit＂ mind, a floating Kalman filter is designed by using the top-down synchronous design method based on FPGA. Through analyzing the principle of Kalman filter, the design uses time-sharing multiplex technology in IP cores and modules to optimize the hardware structure. Finally, taking the precision improvement of the GPS as its application, the Modelsim simulation results show that the designed floating Kalman filter not only is real time, but also save resources and easy to realize, so it has practical value.