【FPGA-UKF】基于FPGA的扩展卡尔曼UKF实现

1.软件版本

MATLAB2013b，ISE14.7

2.本算法理论知识

基于这个算法流程图，估算电池SOC情况，其中UKF部分参考如下的MATLAB源码：

for ks=1:2*n+1
        Xkk = Xkk+Wm(1,ks)*(A*sigma(:,ks)+B*I(i)+[-Cdyna(i)/Ccap;0;0]);
    end
    for kp=1:2*n+1
        Spk=Spk+Wc(1,kp)*((sigma(:,kp)-Xkk)*(sigma(:,kp)-Xkk)');
    end
    Spk = Spk+Q;

    for kg=1:2*n+1
        Vbatk(kg) =-0.0061*exp(-0.81*sigma(1,kg))+0.2656*(sigma(1,kg)^3)+0.0931*(sigma(1,kg)^2)+0.01686*sigma(1,kg)+3.82-I(i)*R0-sigma(2,kg)-sigma(3,kg);
    end
    for ky=1:2*n+1
        Syk       = Syk + Wm(ky)*Vbatk(ky);
    end
    Vbat(i) = Syk;
    for kpy=1:2*n+1
        Pyy = Pyy+Wc(kpy)*((Vbatk(kpy)-Syk)*(Vbatk(kpy)-Syk)');
    end
    P