Data centric SIR particle filter design using buffer-level pipelining

In this paper, we introduce use of sample importance resampling (SIR) particle filter for bearings-only tracking problem using buffer-level pipelining. The SIR particle filter is heavily data centric in that it transfer significant amount of data between processing blocks. We propose to design the overall filter using buffer-level pipelining where design flow can be significantly simplified. In the buffer-level pipelining, overall execution synchronization is done through controlling patterns of data producing and consuming by each processing block. We verify temporal operation of the filter using Verilog and SystemC.