The purpose of this paper is to provide a practical introduction to the discrete Kalman
filter. This introduction includes a description and some discussion of the basic
discrete Kalman filter, a derivation, description and some discussion of the extended
Kalman filter, and a relatively simple (tangible) example with real numbers &
results.
In 1960, R.E. Kalman published his famous paper describing a recursive solution
to the discrete-data linear filtering problem. Since that time, due in large part to advances
in digital computing, the Kalman filter has been the subject of extensive research
and application, particularly in the area of autonomous or assisted
navigation.
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Applies to
This document provides guidelines for integrating a discrete high speed USB host controller onto a fourlayer
desktop motherboard. The material covered can be broken into three main categories: Board design
guidelines, EMI/ESD guidelines and front panel USB guidelines. Section 1.1 Background provides an
explanation of the routing experiments and testing performed to validate the feasibility of 480 Megabits per
second on an actual motherboard. Section 7 contains a design checklist that lists each design
recommendation described in this document. High speed USB operation is described in the USB 2.0
Specification (http://www.usb.org/developers/docs.html).
