Design method for probability hypothesis density particle filter and filter
A technology of probability hypothesis density and particle filter, applied in the direction of impedance network, electrical components, multi-terminal pair network, etc., can solve problems that do not involve hardware implementation
Inactive Publication Date: 2013-09-04
ZHEJIANG UNIV
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At present, the literature related to the probability hypothesis density particle filter focuses on the research of theoretical algorithms, and does not involve hardware implementation, so there is a gap in this field
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[0028] The present invention will be further described below in conjunction with drawings and embodiments.
[0029] Such as figure 1 As shown, the present invention comprises observation value selection circuit 2, prediction circuit 3, update circuit 4, resampling circuit 5 and state estimation circuit 6; observation value 1 is connected to an input end of observation value selection circuit 2, and observation value selection circuit 2 The other input terminal is connected to the output terminal of the state estimation circuit 6, the output terminal of the observation value selection circuit 2 is connected to an input terminal of the update circuit 4, an output terminal of the prediction circuit 3 is connected to the other input terminal of the update circuit 4, and the prediction circuit 3 The other output terminal of the resampling circuit 5 is connected to an input terminal of the state estimation circuit 6, the output terminal of the update circuit 4 is connected to the in...
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The invention discloses a design method for a probability hypothesis density particle filter and the filter. The observed value of the filter is connected with one input end of an observed value selection circuit, the other input end of the observed value selection circuit is connected with the output end of an input end access state estimation circuit; the output end of the observed value selection circuit is connected with one input end of an update circuit; one output end of a prediction circuit is connection with the other input end of the update circuit; the other output end of the prediction circuit is connected with one input end of the state estimation circuit; the output end of the update circuit is connected with the input end of a resampling circuit; one output end of the resampling circuit is connected with the input end of the prediction circuit; and the other output end of the resampling circuit is connected with the other input end of the state estimation circuit. On the improved theoretical basis of the probability hypothesis density particle filter, the implementation scheme of the hardware circuit of the probability hypothesis density particle filter is designed, and simulation results show that the tracking performance of the probability hypothesis density particle filter is similar to that analyzed in theory, and that the probability hypothesis density particle filter can be used for solving the problem of tracking a plurality of target motions in a clutter environment.
Description
technical field [0001] The invention relates to a design method and a hardware circuit of a particle filter, in particular to a design method and a filter of a probability hypothesis density particle filter. Background technique [0002] Target tracking is widely used in both military and civilian fields. On the military side, target tracking can be used for missile guidance, ocean surveillance (such as submarines), air defense early warning, battlefield surveillance satellite reconnaissance, etc.; while in the civilian field, target tracking technology is widely used in air traffic control (civil aviation aircraft), collision avoidance , robot positioning, computer vision, etc. Therefore, it has great theoretical and practical significance to study the problem of target tracking. [0003] In the target tracking problem, filtering is the core part. Among them, the particle filter algorithm has received great attention from researchers because of its powerful processing ab...
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IPC IPC(8): H03H7/01
Inventor 金梦珺史治国洪少华陈积明陈抗生
Owner ZHEJIANG UNIV