Improved Particle Filter Based on Genetic Algorithm

Abstract

Abstract: Considering particle number and particle quality have major influence on degeneracy phenomenon, a set of particles was chosen from a lot of initial sample particles using genetic algorithm, and kept the similarity and randominess, means and covariance as the initial sample particles. This method is used in a land vehicle navigation system, and compared with the tradition particle filter with the same amount of initial particles. The location precision, the degeneracy times and calculation time are used as the calibrating performances of the algorithms. The results prove that the initial particles quality is improved, the particle degeneracy phenomenon reduced and the system location precision improved.

Key words: particle filter, genetic algorithm, particle quality, location

CLC Number:

TP 273

YANG Ning-1, QIAN Feng-2a, ZHU Rui-2b. Improved Particle Filter Based on Genetic Algorithm[J]. Journal of Shanghai Jiaotong University, 2011, 45(10): 1526-1530.

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