| 一种快速估计线性非线性状态的粒子滤波器 |
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| 引用本文： | 刘元魁,樊养余,赵炯,黄爱萍.一种快速估计线性非线性状态的粒子滤波器[J].测控技术,2009,28(5). |
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| 作者姓名： | 刘元魁 樊养余 赵炯 黄爱萍 |
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| 作者单位： | 西北工业大学,电子信息学院,陕西,西安,710129 |
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| 基金项目： | 国家高技术研究发展计划(863计划)，陕西省自然科学基金 |
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| 摘 要： | 提出了一种快速估计线性非线性状态的粒子滤波器.针对混合线性非线性模型中传统的Rao-Blackwellized Particle Filter(RBPF)方法对状态估计处理速度较慢的不足,将条件相关的线性与非线性状态进行分离,对于非线性状态运用粒子滤波(PF)算法进行估计,取出从非线性状态中抽取出的粒子的均值,将此均值传播到线性状态中做一次卡尔曼滤波,得出对线性状态的估计.仿真结果表明:与RBPF相比可以将处理速度提高50%～60%,有效改善状态估计的实时性.
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| 关 键 词： | 目标跟踪 粒子滤波器 混合线性/非线性 处理速度 |
A Fast Estimating Linear/Nonlinear Condition Particle Filter |
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| LIU Yuan-kui,FAN Yang-yu,ZHAO Jiong,HUANG Ai-ping.A Fast Estimating Linear/Nonlinear Condition Particle Filter[J].Measurement & Control Technology,2009,28(5). |
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| Authors: | LIU Yuan-kui FAN Yang-yu ZHAO Jiong HUANG Ai-ping |
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| Affiliation: | School of Electronics and Information;Northwestern Polytechnical University;Xi'an 710129;China |
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| Abstract: | A fast estimating linear/non-linear condition particle filter algorithm is presented.The new method separates the related linear and non-linear conditions to overcome the RBPF(Rao-Blackwellized particle filter) algorithm shortage on processing speed in the mixed linear/non-linear model,for the estimation of non-linear condition,traditional particle filter is used,and the mean of the particles drawn from the non-linear condition is computed and propagated to the linear part to get the estimation.The simulati... |
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| Keywords: | target tracking particle filter mixed linear/non-linear processing speed |
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