Improvement of resampling algorithm of particle filter

被引：0
作者：
Li, Juan [1 ]
Liu, Xiao-Long [1 ]
Lu, Chang-Gang [2 ]
Zuo, Ying-Ze [1 ]
机构：
[1] College of Communication Engineering, Jilin University, Changchun
[2] College of Automotive Engineering, Jilin University, Changchun
来源：
Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2015年 / 45卷 / 06期
关键词：
Classified resampling; Information processing; Particle filters; Particles degeneracy; Resampling algorithm;
D O I：
10.13229/j.cnki.jdxbgxb201506048
中图分类号：
学科分类号：
摘要：
To solve the problem of particles degeneracy in the particle filter algorithms, a Classified Resampling (CR) algorithm is proposed. This algorithm adopts different duplication schemes according to the quantity of selected particles; furthermore, it replenishes new particles in the case that the number of effective particles is reduced. Simulation results demonstrate that, with smaller number of particles or longer simulation period, the proposed algorithm has minor Root Mean Square Error (RMSE) compared with Multinomial Resampling (MR) and Systematic Resampling (SR), and with multiple simulations the variance of RMSE is smaller, which indicates that the robustness, durability and stability of the proposed algorithm are improved. ©, 2015, Editorial Board of Jilin University. All right reserved.
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页码：2069 / 2074
页数：5
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