计算机科学 ›› 2014, Vol. 41 ›› Issue (6): 199-203.doi: 10.11896/j.issn.1002-137X.2014.06.039
胡振涛,魏丹,金勇,胡玉梅
HU Zhen-tao,WEI Dan,JIN Yong and HU Yu-mei
摘要： 针对量测受扰动情况下粒子重要性权重的精确度量和粒子的有效采样问题,提出了一种基于自适应粒子群优化的代价评估Marginalized粒子滤波。首先,在Marginalized粒子滤波框架下,通过引入代价函数和风险函数,实现了粒子重要性权重评价过程中对最新量测信息的合理利用,以降低传统的依据重要性权重度量方式中对于噪声先验信息的依赖。其次,通过对粒子分布特征信息的提取和利用,构建了粒子极限速度设定的自适应选取策略,给出了一种自适应粒子群优化方法。在此基础上,结合粒子群优化中群体优化机理来提升采样粒子对被估计状态的逼近程度,进而改善重采样后粒子的多样性。理论分析和仿真实验验证了算法的有效性。
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