大量时间损耗在这些“无关紧要”的粒子计算上,即所谓的粒子退化现象(Degeneracy Problem)。目前,标准的粒子滤波器选择先验概率(Prior)作为建议分布。
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Resampling is a critically operation to solve degeneracy problem with particle filters.
重采样是解决粒子滤波退化问题的主要方法。
Aiming at the choice of proposal function and degeneracy problem in particle filter, an improved algorithm is put forward.
针对粒子滤波算法建议性函数的选择问题和粒子匮乏现象,提出了改进粒子滤波算法。
The structure of the formula is simple and easy to compute, the linear system method is superior to the former for handling the degeneracy problem.
退化现象是应用粒子滤波算法的一个主要障碍,常规的再采样方法虽然可解决退化问题,但容易产生粒子耗尽现象。
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