摘要
研究多新息理论改进优化粒子滤波问题,以提高粒子滤波精度。其中粒子滤波状态估计模型的改进和新息数的选择是难点题。首先,基于多新息理论,利用多新息的增益矩阵和新息向量的乘积,对标准粒子滤波的状态估计模型改进优化,提出基于多新息改进优化的粒子滤波MI-PF;然后,分析了MI-PF算法的时间复杂度,从理论上论述了多新息理论改进优化粒子滤波的可行性;最后,利用仿真的方法,研究了不同新息数对MI-PF滤波性能和效率的影响,并得出了在强非线性、非高斯系统下,MI-PF新息数的取值范围。实验结果表明:若粒子数相同,与其它改进的粒子滤波相比,MI-PF滤波精度更高;若滤波精度近似,MI-PF使用的粒子数最少效率最高。从而验证了多信息理论改进粒子滤波的可行性,提高了粒子滤波精度。
Firstly,based on multi innovation theory,the product of gain matrix and vector of multi innovation were used to improve and optimize the state estimate value of standard particle filter,and the improvement and optimization of MI-PF was proposed based on multi innovation theory. Then,the time complex of MI-PF was analyzed,which discussed the feasibility of the improvement and optimization particle filter by multi innovation theory. Finally,using the method of experimental simulation,the influence of the different number of innovation on filtering precision was researched,and the number range of innovation was obtained with the system of non-liner and non-Gauss. The experimental results show that compared with other improved particle filters,if the particle number is the same,the MI-PF filter has higher accuracy;and if the filtering accuracy is approximate,MI-PF uses the least number of particles and has the highest efficiency. And then,the feasibility of improving particle filter by multi innovation was verified,and the accuracy of particle filter was improved.
作者
白晓波
邵景峰
和征
田建刚
BAI Xiao-bo;SHAO Jing-feng;HE Zheng;TIAN Jian-gang(School of Management,Xi'an Polytechnic University,Xi'an,Shanxi 710048,China;Army Academy of Border and Coastal Defence,Department of Information and Arms,Xi'an,Shanxi 710108,China)
出处
《计算机仿真》
北大核心
2019年第1期284-290,共7页
Computer Simulation
基金
国家科技支撑计划基金资助项目(2014BAF07B01)
陕西省工业科技攻关项目(2017GY-039)
陕西省教育厅服务地方专项计划项目(16JF009)
关键词
多新息理论
粒子滤波
增益矩阵
新息向量
非线性
非高斯
Multi innovation theory
Particle filter
Gain matrix
Innovation vector
Non-linear
Non-Gauss
