An efficient particle filter with variable number of particles for bearings-only tracking

Autor:	Xu Linzhou, Yang Shao-qing, Fan Wentao, Zhang Xin-hua
Rok vydání:	2010
Předmět:	Computer Science::Robotics Quality (physics) Particle number Control theory Computation Monte Carlo method ComputingMilieux_PERSONALCOMPUTING Observability Variable number Tracking (particle physics) Particle filter Mathematics
Zdroj:	IEEE 10th INTERNATIONAL CONFERENCE ON SIGNAL PROCESSING PROCEEDINGS.
DOI:	10.1109/icosp.2010.5657082
Popis:	In this paper, the observability in BOT problem is analyzed and defined in form of leg by leg, the basic relationship between observability and the number of particles is opened out, and a fast particle filter with variable number of particles which calculated by this relationship is proposed to adopt the observability in BOT to save the computation resource. The simulation results show that the definition of observability accords with the reality and the proposed method decreases the computation time while remaining the tracking quality.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::cf70aaa097f26746d31aa3b5989fed36 https://doi.org/10.1109/icosp.2010.5657082 Zobrazit plný text záznamu