... Signal Processing2. MATRIX INVERSION Hardware implementation of matrix inversion has been dis-cussed in many papers [3]. In this section, a systolic- array-based inversion is introduced to ... used for rapid prototyping of a Kalman filter. Matrix inversion isthe computational bottleneck and the most complex oper-ation in Kalman filtering. The PSA matrix inversion results in a simple, yet ... itsalgorithm comprises a set of matrix operations, including matrix addition, matrix subtraction, matrix multiplication,and matrix inversion. Among these matrix operations, ma-trix inversion is the most...