| 一种带重采样控制器的IMM-AUPF算法 |
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| 引用本文： | 郭荣华,覃征,李国兵,李向楠.一种带重采样控制器的IMM-AUPF算法[J].清华大学学报(自然科学版),2010(4). |
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| 作者姓名： | 郭荣华 覃征 李国兵 李向楠 |
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| 作者单位： | 清华大学计算机科学与技术系;清华大学软件学院; |
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| 基金项目： | 国防“十一五”预研计划项目(102060310); 总装预研基金项目(402040502) |
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| 摘 要： | 为了减轻粒子滤波计算复杂性,提出了一种基于交互式多模型(IMM)架构的自适应Unscented粒子滤波算法(AUPF)。IMM-AUPF算法在粒子滤波重采样步骤中设计了一个重采样控制器,根据滤波性能在线调节重采样粒子的数量。并将自适应粒子滤波算法应用于交互式多模型估计方法中,有效地解决了地面机动目标跟踪问题。实验结果表明:基于粒子滤波的多模型滤波器在估计精度方面优于标准的交互式多模型滤波器,且IMM-AUPF算法在计算复杂性方面优于交互式多模型Unscented粒子滤波算法。
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| 关 键 词： | 自适应Unscented粒子滤波 重采样控制器 交互式多模型 |
An IMM-AUPF algorithm with a re-sampling controller |
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| GUORonghua,QINZheng,LIGuobing,LIXiangnan.An IMM-AUPF algorithm with a re-sampling controller[J].Journal of Tsinghua University(Science and Technology),2010(4). |
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| Authors: | GUORonghua QINZheng LIGuobing LIXiangnan |
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| Institution: | GUO+Ronghua1,QIN+Zheng1,2,LI+Guobing2,LI+Xiangnan2(1.+Department+of+Computer+Science+,+Technology,Tsinghua+University,Beijing+100084,China,2.+School+of+Software,China) |
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| Abstract: | An adaptive unscented particle filter (AUPF) based on the interacting multiple model (IMM) frame was developed to curtail the computational complexity of particle filters. According to some filtering performance,the algorithm designs a re-sampling controller in the re-sampling step to tune online the number of re-sampling particles in each model. The IMM-AUPF,combining the adaptive unscented particle filter with the interacting multiple model estimator,efficiently addresses the ground maneuvering target tra... |
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| Keywords: | adaptive unscented particle filter re-sampling controller interacting multiple model |
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