粒子濾波算法的研究.pdf

《粒子濾波算法的研究.pdf》由會員上傳分享，免費在線閱讀，更多相關(guān)內(nèi)容在工程資料-天天文庫。

1、???????717171????從從從(????????????)?????└⌒????ウTheResearchofParticleFilterAlgorithm??????????????????????????????????????、?學(xué)???、?、??、???уъуъ?????????????????????а??а?а??а?а??а?а??а?????〇????????????????????仾????、?

2、??????????????????????л????ウ???????ウ??????????????????????????????????н???????????????ウ????н?????????、???????????????????????о?а?????????ウ?????????????????????????????????о????н????????а??????????????????〇???????????????????????、????????????????????ウ????????????????????????

3、?、???????????????????????????????????????????????????????????????????????????ъ????????ウ?仈?????ㄐа??????????、????(??????????????)????????????????????????????????????????└⌒???а??????????????а?????????└⌒?????а????????????└⌒?????└⌒??????儈????????????????└⌒?仈???????????└⌒???????

4、?????????????????????亶???????????????????└⌒????????????????仈?????к?仈???????????????ウ?????????л??????ウ???????└⌒?????└⌒??(UKF-PF)?????????????仈?俆???????劬????UKF-PF??????????劬?????UKF-PF?????????????劬??伏???????????儈?????????????????仈??????????劬????UKF-PF??????????????????????仈??

5、????????劬????UKF-PF????????????劬???????????????????????劬?????UKF-PF???????仈??傼?????????н?????UKF-PF??????仈??ф└⌒???儈?а???????????φ???φφφ??┚???┚?UKF-PF??勁???????AbstractParticlefilteralgorithmisimplementedbyaBayesianrecursionprocessthoughaMonteCarlosimulationmethod.Asanonlinear

6、filteralgorithmbasedonBayesianestimation,particlefilterhasanoriginaladvantageattreatingtheparameterestimationandstatingfilteringaspectsofnonlinearnon-Gaussiantime-varyingsystem.Soparticlefilterhasbeenwidelyusedinthefieldssuchasfaultdiagnosis,navigationposition,radiocommunicat

7、ion,visiontrackingandfinanceetc.Atfirst,thispapermakesadetailedanalysisforParticlefilteralgorithmandsummarysit'sshortcomings.Andthen,wepresenttheimprovedalgorithm.Thepaper’sresearchandinnovativecanbesummarizedasthefollowings:ThroughthestudyoftheparticlefilteralgorithmbasedonU

8、nscentedkalmanfilter(UKF-PF),inordertosolvetheparticlesimpoverishmen