计算机应用与软件Issue(9)：209-212,4.DOI:10.3969/j.issn.1000-386x.2014.09.052
基于分层空间的Rao-Blackwellised化粒子滤波算法
RAO-BLACKWELLISED PARTICLE FILTER ALGORITHM BASED ON LAYERED SPACE
摘要
Abstract
Concerning the problem of low and single particles utilisation rate of the particles filter in target tracking,we propose aRao-Blackwellised particle filter algorithm which is based on layered space.The proposed algorithm marginalises the linear variable throughRao-Blackwell theorem so as to reduce the state space dimensionality and to improve the estimation precision.It can greatly reduce thenumbersof particles required while meeting the same accuracy,thus the computational load is reduced greatly as well.The layered theory candivide the particle spaces into multidimensionality.It allocates the particles reasonably by using the weight and can improve the accuracy ofthe related estimation.Experimental results show that the root mean square error of the proposed algorithm reduces by 50% than thetraditionalalgorithm,and the accuracy was improved in each simulation time.关键词
分层空间/Rao-Blackwell定理/粒子滤波/均方根误差Key words
Layered space/Rao-Blackwell theorem/Particle filter/Root mean square error分类
信息技术与安全科学引用本文复制引用
季云峰,马上,周航..基于分层空间的Rao-Blackwellised化粒子滤波算法[J].计算机应用与软件,2014,(9):209-212,4.基金项目
国家科技支撑计划项目（2007 BAG06 B06）。 （）
