Computer Science ›› 2013, Vol. 40 ›› Issue (12): 152-155.

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Weights Optimization Particle Filter Algorithm in Multi-sensor Measurement

HU Zhen-tao,LIU Yu and YANG Shu-jun   

  • Online:2018-11-16 Published:2018-11-16

Abstract: Aiming at the effective realization of particle filter in multi-sensor measurement system state estimation,a novel particle filter algorithm based on weights optimization in multi-sensor measurement was proposed in this paper.In the new algorithm,the measurements likelihood function is firstly constructed on the basis of the concrete form of proposal distribution,and all measurement in single filter period are used to calculate the every particle weights,respectively.Secondly,given the otherness of different sensors precision,combining with priori information of sensors precision,the weighting fusion method is used to optimize every particle weights in multi-sensor measurement.Finally,the filter precision is improved by decreasing the variance of particle weights.The theoretical analysis and experimental results show the feasibility and efficiency of the proposed algorithm.

Key words: Multi-information fusion,Multi-sensor measurement,Particle filter,Weights optimization

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