The Kalman filter design by systolic arrays with tag input

An array design based on a novel architecture called SATIN is presented which can perform matrix operations efficiently. SATIN is one kind of systolic array incorporating a control scheme which can solve the stored-I/O and time-invariant function problems efficiently and completely. Standard Kalman filter formulation is rearranged such that the number of matrix operations can be reduced and the execution sequence is suitable for executing concurrently by SATIN. This design not only provides computation efficiency but also has other advantages, such as simplicity of PE realization and complete consideration of control