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[SOLVED] VHDL 1 D Kalman Filter

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abimann

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Hello All
how to implement 1D Kalman filter for data from MPU6050 ?

I found this formula Mn = k * An + (1-k) * M(n-1)

Mn is a result
k is a real or float Kalman gain (from 0 to 1)
An is a measurement
M(n-1) is a previous result

But I dont understand how to use float data, could someone help to program above formula in VHDL ?

I think following is C, it is easy to understand, but in VHDL i dont know howto use float data.

sub Kalman
Mn = k * An
An = 1 - k
Mn1 = Mn1 * An
Mn = Mn + Mn1
Mn1 = Mn
end sub
 

The given filter is a simple first order digital IIR low-pass. For certain problems, it might be a useful Kalman filter. (Kalman filter isn't a specific filter type rather than a filter goal specification).

Digital filters are mostly implemented using fixed point instead of floating point arithmetics. k should be a fractional number k1/2^n (k1 is an integer coefficient, n = fractional bits). Use as many fractional bits as required for the intended coefficient accuracy.
 
are there some vhdl code example ?
 

Hi,

I just googled fir "kalman filter vhdl"
I got countless results... showing how to implement it.

Like:

I don't know if this exactely is what you want to know, but one of the results surely will help you.

Klaus
 

Is there any sample code in VHDL for 1D Kalman filter ?
 

Like the one shown in the Appendix of the PDF document given by Klauss on post #4 ?
 

yes, like that in appendix , but there is no divide file.
 

High all thax for everyone which is try to help me,i find answer for all my newbie questions , -1 to + it is a same thing with Q15. I just connect them then it works
 

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