吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (6): 2069-2074.doi: 10.13229/j.cnki.jdxbgxb201506048

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Improvement of resampling algorithm of particle filter

LI Juan1, LIU Xiao-long1, LU Chang-gang2, ZUO Ying-ze1   

  1. 1.College of Communication Engineering, Jilin University, Changchun 130012, China;
    2.College of Automotive Engineering, Jilin University, Changchun 130022, China
  • Received:2014-07-08 Online:2015-11-01 Published:2015-11-01

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Abstract: 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.

Key words: information processing, particle filters, particles degeneracy, resampling algorithm, classified resampling

CLC Number: 

  • TN911.7
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