计算机工程与应用
計算機工程與應用
계산궤공정여응용
COMPUTER ENGINEERING AND APPLICATIONS
2015年
13期
225-229
,共5页
增量粒子滤波%辅助变量粒子滤波%辅助增量粒子滤波%滤波精度
增量粒子濾波%輔助變量粒子濾波%輔助增量粒子濾波%濾波精度
증량입자려파%보조변량입자려파%보조증량입자려파%려파정도
incremental particle filter%auxiliary particle filter%auxiliary incremental particle filter%filtering accuracy
提出辅助增量粒子滤波方法并给出其算法过程。该方法将增量形式融入辅助变量粒子滤波中，解决由于工程实际中量测可能存在未知系统误差导致无法精确建立量测似然函数的问题，另一方面，其又能保持辅助变量粒子滤波方法的优势，在选取重要性密度函数上有效利用最新观测的信息。该方法能减少重采样次数，较好保持粒子的多样性，使得非线性滤波的精度得以提高。仿真实验结果表明，辅助增量粒子滤波方法能有效减少非线性滤波问题的误差，相对经典滤波方法的滤波精度提高了50%。
提齣輔助增量粒子濾波方法併給齣其算法過程。該方法將增量形式融入輔助變量粒子濾波中，解決由于工程實際中量測可能存在未知繫統誤差導緻無法精確建立量測似然函數的問題，另一方麵，其又能保持輔助變量粒子濾波方法的優勢，在選取重要性密度函數上有效利用最新觀測的信息。該方法能減少重採樣次數，較好保持粒子的多樣性，使得非線性濾波的精度得以提高。倣真實驗結果錶明，輔助增量粒子濾波方法能有效減少非線性濾波問題的誤差，相對經典濾波方法的濾波精度提高瞭50%。
제출보조증량입자려파방법병급출기산법과정。해방법장증량형식융입보조변량입자려파중，해결유우공정실제중량측가능존재미지계통오차도치무법정학건립량측사연함수적문제，령일방면，기우능보지보조변량입자려파방법적우세，재선취중요성밀도함수상유효이용최신관측적신식。해방법능감소중채양차수，교호보지입자적다양성，사득비선성려파적정도득이제고。방진실험결과표명，보조증량입자려파방법능유효감소비선성려파문제적오차，상대경전려파방법적려파정도제고료50%。
An auxiliary incremental particle filter method is proposed, while the algorithm process is established. The method can integrate increment form into the auxiliary particle filtering. It can solve the problem of unsetting up the accurate measurement likelihood function due to the unknown system errors in the practical engineering. On the other hand, the advantage of the auxiliary particle filtering which can select the important density function effectively by using the latest observation information is remained. This method decreases the numbers of resample obviously, preserves the diversity of the particle effectively and improves the accuracy of nonlinear filtering. Simulation results show that the method of auxil-iary incremental particle filter can reduce the errors of nonlinear filtering effectively and increase the filtering accuracy by 50%compared to classical methods.
