NDLI: Rapid Exploration of the Design Space During Automatic Generation of Kalman Filter Code

Content Provider	IEEE Xplore Digital Library
Author	Richardson, J. Schumann, J. Fischer, B. Denney, E.
Copyright Year	2005
Description	Author affiliation: NASA Ames Res. Center, Moffett Field, CA (Richardson, J.; Schumann, J.; Fischer, B.; Denney, E.)
Abstract	State estimation is a core capability for autonomous systems such as satellites and planetary rovers. Kalman filters provide a computationally efficient way to determine the values of state variables (e.g. position, velocity) from noisy measurements. The Automated Software Engineering group at NASA Ames Research Center has previously developed a number of systems for generating program code in NASA-relevant domains, including AMPHION/NAIF (Whittle et al., 2001) for generating code for mission planning and AUTOBAYES (Fischer and Schumann, 2003) for generating data analysis code. In this paper, we outline a program generation system, AUTOFILTER (Whittle and Schumann, 2005), which has been developed at NASA Ames Research Center. AUTOFILTER synthesizes (i.e. generates) Kalman filter code. It takes as input a textual specification - a description of the mathematical model underlying the Kalman filter - and automatically generates code suitable for compilation using MATLAB libraries (for prototyping and testing the filter) or standalone C code (for deploying the filter). We describe how AUTOFILTER assists the iterative development of Kalman filters in various ways: permitting changes in the mathematical model underlying the filter to be rapidly realized as code and tested, different Kalman filters to be synthesized from the same model, code automatically assessed for computational performance, and approximating assumptions applied to the code in order to improve efficiency. AUTOFILTER provides assistance for ensuring that the generated code is correct by generating program documentation and correctness certificates in addition to the code itself
Starting Page	1
Ending Page	8
File Size	10237102
Page Count	8
File Format	PDF
ISBN	0780388704
DOI	10.1109/AERO.2005.1559631
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-03-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mathematical model Filters NASA Automatic testing State estimation Satellites Extraterrestrial measurements Position measurement Velocity measurement Software engineering
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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