Digital Signal Processing Reference
In-Depth Information
Fig. 18 Performance of the resampling mechanism. Four PEs operated with 1,024 particles is
considered. A balanced weight distribution is assumed
and gets tagged particles from its adjacent PE. As shown in the figure, the number
of replicated particles for the scheme with tagging method is also closer to M .
Similarly, Fig. 19 illustrates the performance of the resampling for the worst-case
where one PE generates all the weights, M , and the rest of the PEs have zero weight.
Therefore, the PE that has the value of weights equal to M shares its particles to
others. As shown in the figure, the number of replicated particles for the scheme
with tagging method is still closer to M comparing to the operation without using
the tagging method.
4.5
Memory Requirement and Bus Complexity
The memory complexity is a function of M , P , W and D where W is the wordlength
used to represent particles and weights and D is the number of data that one particle
contains. In addition, V
=
log 2 M
+
1 bits are necessary to represent the replication
factor r and the tag factor t .For P
=
1, the resampling operation can be incorporated
into the particle filter [ 24 ] . When P
2, only one RTB (instead of RTB u and RTB u )
is necessary since the two PE CU are directly connected.
=
 
 
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