A High Precision Particle Filter Based on Improved Differential Evolution

Abstract

Abstract:

Abstract： A particle filter based on differential evolution with improved fitness function and search strategy was proposed to solve the problem of the low precision and slow convergence rate of particle filters based on intelligent optimization algorithms. The algorithm defined a new fitness function based on adaptive fusion of particle weight and its measurement error. The function was used to evaluate the credibility of the particles and move them to positions with larger values of posterior density function. Synchronously, a new search strategy was introduced to differential evolution which could maintain the diversity of the particles and accelerate the convergence rate of the particle filter. Experiment results show that the proposed algorithm effectively improves the accuracy and realtime performance of the intelligent optimization particle filter for nonlinear system state estimation.

Key words: computer applications, particle filter, differential evolution, fitness function, search strategy

CLC Number:

TP 391.41

CAO Jiea,b，LI Yuqina，WU Dib. A High Precision Particle Filter Based on Improved Differential Evolution[J]. Journal of Shanghai Jiaotong University, 2014, 48(12): 1714-1720.

References

［1］Gustafsson F. Particle filter theory and practice with positioning applications［J］. IEEE Aerospace and Electronic Systems Magazine, 2010, 25(7): 5382.

［2］方正, 佟国峰, 徐心和. 粒子群优化粒子滤波方法［J］. 控制与决策, 2007, 22(3): 273277.

FANG Zheng, TONG Guofeng, XU Xinhe. Particle swarm optimized particle filter［J］. Control and Decision, 2007, 22(3): 273277.

［3］周越, 毛晓楠. 采用粒子群优化粒子滤波的红外目标提取算法［J］. 红外与毫米波学报, 2010, 29(1): 6368.

ZHOU Yue, MAO Xiaonan. Infrared target extraxtion algorithm by using particle swarm optimization particle filter［J］. Journal of Infrared and Millimeter Waves, 2010, 29(1): 6368.

［4］陈志敏，薄煜明，吴盘龙，等. 基于自适应粒子群优化的新型粒子滤波在目标跟踪中的应用［J］. 控制与决策, 2013, 28(2): 193200.

CHENG Zhimin, BO Yuming, WU Panlong, et al. Novel particle filter algorithm based on adaptive particle swarm optimization and its application to radar target tracking［J］. Control and Decision, 2013, 28(2): 193200.

［5］Khong Wei Leong, Kow Wei Yeang, Chin Yit Kwong, et al. Enhancement of particle filter resampling in vehicle tracking via genetic algorithm［C］//Computer Modeling and Simulation (EMS), 2012 Sixth UKSim/AMSS European Symposium on.Valetta: IEEE, 2012: 243248.

［6］Xu B L, Zhu J H, Xu H G. An ant stochastic decision based particle filter and its convergence［J］. Signal Processing, 2010, 90(9): 27312748.

［7］李永平, 王延江, 齐玉娟. 基于多智能体协同进化的粒子滤波目标跟踪算法［J］. 模式识别与人工智能, 2011, 24(1):5763.

LI Yongping, WANG Yanjiang, QI Yujuan. Object tracking with particle filter based on mutiagent coevolution［J］. Pattern Recognition and Artificial Intelligence, 2011, 24(1):5763.

［8］刘繁明, 钱东, 刘超华. 一种人工物理优化的粒子滤波算法［J］. 控制与决策, 2012, 27(8): 11451149.

LIU Fanming, QIAN Dong, LIU Chaohua. An artificial physics optimized particle filter［J］. Control and Decision, 2012, 27(8): 11451149.

［9］DU M, NAN X M, GUAN L. Monocular human motion tracking by using DEMC particle filter［J］. IEEE Transactions on Image Processing, 2013,22(10):38523865.

［10］Li H W, Wang J, Su H T. Improved particle filter based on differential evolution［J］. Electronics Letters, 2011, 47(19): 10781079.

［11］Zhu G P, Kwong S. Gbestguided artificial bee colony algorithm for numerical function optimization［J］. Applied Mathematics and Computation, 2010, 217(7): 31663173.

［12］Van Der Merwe R, Doucet A, De Freitas N, et al. The unscented particle filter［R］. UK: Engineering Department, Cambridge University, 2000.

(上接第1713页)［7］马昱.基于干扰观测器的终端滑模控制研究［J］.自动化仪表,2011,32(2):1922.

MA Yu.Study on the terminal sliding mode control based on disturbance observer［J］. Process Automation Instrumentation, 2011,32(2):1922.

［8］胡剑波.高级变结构控制理论及应用［M］.西安:西北工业大学出版社.2008.

［9］刘金琨,孙富春.滑模变结构控制理论及其算法研究与进展［J］.控制理论与应用,2007,24(3):407418.

LIU Jinkun, SUN Fuchun. Research and development on theory and algorithms of sliding mode control［J］. Control Theory & Applications, 2007, 24(3): 407418.

［10］Mohammadi A, Tavakoli M, Marquez H J, et al. Nonlinear disturbance observer design for robotic manipulators［J］. Control Engineering Practice, 2013,21(3):253267.

［11］张显库. 船舶控制系统［M］. 大连:大连海事大学出版社,2010.

［12］贾欣乐,杨盐生.船舶运动数学模型:机理建模与辨识建模［M］. 大连:大连海事大学出版社,1999.

［13］王睿,张军,宋金来. 舵机自抗扰控制应用研究［J］.系统仿真学报,2013,25(1):111115.

WANG Rui, ZHANG Jun, SONG Jinlai. Application of active disturbance rejection control in electromechanical actuator control system［J］. Journal of System Simulation, 2013, 25(1):111115.

［14］Perera L P, Soares C G. Prefiltered sliding mode control for nonlinear ship steering associated with disturbances ［J］. Ocean Engineering, 2012, 51: 4962.

［15］李鹏.传统和高阶滑模控制研究及其应用［D］.湖南：国防科学技术大学研究生院,2011.

[1]	CAI Shuyu∗ (蔡舒妤), SHI Lizhong (师利中). Airframe Damage Region Division Method Based on Structure Tensor Dynamic Operator [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(6): 757-767.
[2]	HUANG He, WU Kun, LI Xinrui, WANG Jun, WANG Huifeng, RU Feng. A Multi-Feature Particle Filter Vehicle Tracking Algorithm Based on Adaptive Interpolation Moth-Flame Optimization [J]. Journal of Shanghai Jiao Tong University, 2022, 56(2): 143-155.
[3]	GAO Honglian, YOU Jie, CAO Songyin. In-Flight Alignment Method of Integrated SINS/GPS Navigation System Based on Combined PF-UKF Filter [J]. Journal of Shanghai Jiao Tong University, 2022, 56(11): 1447-1452.
[4]	LI Shaoyong (李绍勇), WANG Duo (王铎), HAN Xilian (韩喜莲), CHENG Kang (程康), ZHAO Chunrun (赵春润). Auto-Tuning Parameters of Fractional PID Controller Design for Air-Conditioning Fan Coil Unit [J]. J Shanghai Jiaotong Univ Sci, 2021, 26(2): 186-192.
[5]	CHEN Guangfeng, YU Lichao. Multi-Order Batch Optimization of Warehouse Based on Cascaded Improved Differential Evolution Algorithm [J]. Journal of Shanghai Jiao Tong University, 2021, 55(10): 1291-1302.
[6]	HOU Yuguan, HAN Yuanpeng, XIE Jinyue, MAO Xingpeng. A Radar DOA Tracking Method for Multiple Targets Based on SDE Model [J]. Air & Space Defense, 2021, 4(1): 41-46.
[7]	PENG Pai, CHEN Cong , YANG Yongsheng . Particle Swarm Optimization Based on Hybrid Kalman Filter and Particle Filter [J]. J Shanghai Jiaotong Univ Sci, 2020, 25(6): 681-688.
[8]	ZHOU Binghai,LIU Wenlong. Multi-Objective Hybrid Flow-Shop Scheduling Problem Considering Energy Consumption and On-Time Delivery [J]. Journal of Shanghai Jiaotong University, 2019, 53(7): 773-779.
[9]	BI Xiaojun,HU Songyi. Firefly Algorithm with High Precision Mixed Strategy Optimized Particle Filter [J]. Journal of Shanghai Jiaotong University, 2019, 53(2): 232-238.
[10]	CHEN Zirong *(陈仔荣), LU Yafei (鲁亚飞), HOU Zhongxi (侯中喜), WANG Junwei (王俊伟). UAV's Coverage Search Planning Algorithm Based on Action Combinations [J]. Journal of Shanghai Jiao Tong University (Science), 2019, 24(1): 48-57.
[11]	ZHANG Liang (张梁), BAO Qilian *(鲍其莲), CUI Ke (崔科), JIANG Yaodong (蒋耀东), XU Haigui (徐海贵), DU Yuding (杜雨丁). Particle Filter and Its Application in the Integrated Train Speed Measurement [J]. Journal of Shanghai Jiao Tong University (Science), 2019, 24(1): 130-136.
[12]	SUN Yiqi,WU Aiguo,DONG Na,SHAO Yizhe. A Novel Algorithm for Hand Tracking with Particle Filter and Improved GVF Snake [J]. Journal of Shanghai Jiaotong University, 2018, 52(7): 801-807.
[13]	NI He,QIN Haibo,JIN Jiashan,SUN Fengrui . Characteristic Identification and Cavitation Analysis of Centrifugal Pump Based on Differential Evolution Algorithm with Residual Correction [J]. Journal of Shanghai Jiaotong University, 2018, 52(7): 831-836.
[14]	JIAO Qinglong (焦庆龙), XU Da (徐达). A Discrete Bat Algorithm for Disassembly Sequence Planning [J]. Journal of Shanghai Jiao Tong University (Science), 2018, 23(2): 276-285.
[15]	ZHAO Guoqia,b,YANG Minga,b,WANG Binga,b,WANG Chunxiangc. Mobile Robot Seamless Localization Based on Smart Device in Indoor and Outdoor Environments [J]. Journal of Shanghai Jiaotong University, 2018, 52(1): 13-19.