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Sample degeneracy is a major problem of particle filter which is based on the sequential importance sampling. In order to solve this problem, the resampling algorithm is introduced in particle filter. Regular resampling algorithm can solve the sample degradation, but it easily lead to sample depletion and increase the computing complexity. The adaptive partial systematic resampling (APSR) algorithm...
As a hot research topic, particle filter (PF), has been successfully applied into many fields. Combined with the analysis of partial stratified resampling (PSR) algorithm, two kinds of improved PF algorithm are presented. One improved PF algorithm with weights optimization is to use the optimal idea to improve the weights after implementing PSR resampling so as to enhance the performance of PF. The...
Aimed at the inherent deficiency in particle filter, it is important for the choice mechanism of proposal distribution in particle filter. Combined with the up-to-date research and application, key choice mechanisms in current study of proposal distribution are respectively summarized from the aspect of direct choice mechanism, choice mechanism with other filter method, and adaptive choice mechanism...
It is very important to find diversity measure when to perform a resampling step in particle filter. By analyzing the inherent deficiency in resampling algorithm of particle filter, some diversity measures including effective sample size, population diversity factor and particle swarm diversity measure are introduced. Then combined with the simulation program using matlab 7.0 to track a single target...
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