A New Pipelined Systolic Array-Based Architecture for Matrix Inversion in FPGAs with Kalman Filter Case Study

A new pipelined systolic array-based (PSA) architecture for matrix inversion is proposed. The pipelined systolic array (PSA) architecture is suitable for FPGA implementations as it efficiently uses available resources of an FPGA. It is scalable for different matrix size and as such allows employing parameterisation that makes it suitable for customisation for application-specific needs. This new architecture has an advantage of O(n) processing element complexity, compared to the O(n2) in other systolic array structures, where the size of the input matrix is given by nn. The use of the PSA architecture for Kalman filter as an implementation example, which requires different structures for different number of states, is illustrated. The resulting precision error is analysed and shown to be negligible.