Design of Parallel Algorithm for Kalman Filter on SW26010 Processors

Abstract

Abstract Kalman filter algorithm, an effective data processing algorithm, has been widely used in space monitoring, wireless communications, tracking systems, the financial industry, and so on. On the Sunway TaihuLight platform, we present an improved Kalman filter parallel algorithm which is according to the new architecture of the SW26010 many-core processors (260 cores) and new programming mode (master and slave heterogeneous collaboration mode). Furthermore, we propose a pipelined parallel mode for the KF algorithm based on a seven-level pipeline of the SW26010 processor. The vector optimization strategy and double buffering mechanisms are provided to improve the parallel efficiency of Kalman filter parallel algorithm on SW26010 processors. The vector optimization strategy can improve data concurrency in parallel computing. In addition, the communication time can be hidden by double buffering mechanisms of SW26010 processors. The experimental results show that the performance and scalability of the parallel Kalman filter algorithm based on SW26010 are greatly improved compared with the CPU algorithm for five different data sets, and is also improved compared to the algorithm on GPU.