An optimized strategy for particle filter

摘要

Aimed at the degradation problem of particle filter, an optimized strategy is proposed. The optimized strategy includes four steps. Firstly, a hybrid proposal distribution with annealing parameter is utilized to consider current information of the latest observed measurement. Moreover, adaptive resampling is adopted with effect sample size. Furthermore, an improved PSR resampling algorithm based on weight optimization is presented. Lastly, particle mutation operation after resampling is implemented. With the simulation program, the performance of the proposed algorithm is evaluated and its validity is verified.