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自适应不完全重采样粒子滤波器

DOI: 10.3724/SP.J.1004.2012.00647, PP. 647-652

Keywords: 粒子滤波,粒子退化,粒子贫化,不完全重采样

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Abstract:

?针对传统重采样算法易引起粒子贫化的问题,提出了自适应不完全重采样粒子滤波(Aparticlefilterbasedonadaptivepartresampling,APRPF)算法.APRPF以分步的方式仅对部分粒子进行重采样,以递推的方式计算表征粒子退化程度的度量函数(Measurementofparticledegeneracy,MPD),直到满足给定条件.重采样后的粒子由新生粒子和未参与重采样的粒子组成,前者的存在有助于缓解退化问题,后者可使粒子集保持一定多样性.实验结果表明,与标准粒子滤波(Samplingimportanceresampling,SIR)、辅助变量粒子滤波(Auxiliaryparticlefilter,APF)、正则化粒子滤波(Regularizedparticlefilter,RPF)三种滤波器相比,APRPF的估计精度高;由于平均重采样次数少,计算量也小.

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