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One crucial issue in particle filtering is the selection of proposal distribution. Good proposal can effectively alleviate particle degeneracy and thus improve filtering accuracy. In this paper, we propose a new type of proposal distribution for particle filter, called as R-IEKF proposal. By combining iterated extended kalman filter with Rauch-Tung-Striebel optimal smoother, the new proposal integrates the latest observation into system and approximates the true posterior distribution reasonably well, hence generating more precise and stable particles against measurement noise. The simulation results indicate that the improved particle filter with R-IEKF proposal prevails over PF-EKF and UPF both in tracking accuracy and filtering stability. Consequently, PF-RIEKF is a competitive choice in noisy measurement environment. 相似文献
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基于数据流模型和硬件可重构技术,提出了一种面向图像处理应用的可重构的多模式众核处理器结构.处理器采用了可扩展的层次化阵列结构,分布式共享存储和带硬件握手的近邻互连,可以分区并发实现多种并行模式,并克服了传统处理器实现数据流计算的低效性;基于VC++开发了集成仿真平台,用于对结构性能和指令性能的仿真验证,并在现场可编程门阵列上实现了包含64个处理单元的所提结构.仿真结果表明,所提结构实现了超过图形处理单元的性能以及接近专用集成电路的数据吞吐量. 相似文献
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基于算数增强的有限状态机(AFSM)模型,给出一种可重构(reconfigurable)控制器结构,用于实现各种网络设备接口控制器和存储器接口控制器。该结构具有动态可重构的能力,FPGA仿真结果表明,与传统基于RTL描述的AISC设计方案相比,所提出的可重构控制器结构可以达到相似的性能,但是设计和实现更加简单高效。 相似文献
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