Digital Signal Processor Implementation of a Kalman Filter for Disk Drive Head Positioning Mechanism
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A Kalman filter for estimating the state of a disk drive head-positioning mechanism has been implemented on a Texas Instruments TMS320C25 digital signal processor (DSP). The predictive formulation of the Kalman filter is employed to avoid potential difficulties with computational delays. Quantization effects of the filter are measured by comparing the performance of the 16—bit fixed—point DSP filter with a 64—bit floating point filter implemented on a general purpose computer. Results of the implementation show that the Kalman filter uses less than two percent of the computational bandwidth of the DSP at a sample period of 250 μS, leaving more than ninety-eight percent available for executing the control algorithm and other tasks.
KeywordsKalman Filter Digital Signal Processor Head Velocity Kalman Gain Noise Spectral Density
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