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Artificial ant colony algorithm optimization-based particle transfer method and device

A technology of artificial ant colony algorithm and transfer method, which is applied in the field of particle transfer method and device based on artificial ant colony algorithm optimization, and can solve the problem of particle diversity reduction and other problems

Inactive Publication Date: 2017-06-20
河南省科学院应用物理研究所有限公司
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Problems solved by technology

[0004] The purpose of the present invention is to provide a particle transfer method and device based on artificial ant colony algorithm optimization to overcome the problem of particle diversity reduction in the particle filter process

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  • Artificial ant colony algorithm optimization-based particle transfer method and device
  • Artificial ant colony algorithm optimization-based particle transfer method and device
  • Artificial ant colony algorithm optimization-based particle transfer method and device

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[0053] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0054] The embodiment of the present invention discloses a particle transfer method and device based on artificial ant colony algorithm optimization, so as to overcome the problem of particle diversity reduction in the particle filter process.

[0055] see figure 1 , a particle transfer method based on artificial ant colony algorithm optimization provided by an embodiment of the present invention, comprising:

[0056] S11. Determine an initial node set according t...

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Abstract

The present invention discloses an artificial ant colony algorithm optimization-based particle transfer method. According to the particle transfer method, before re-sampling is performed on particles, an ant colony algorithm is used to improve the a posteriori distribution of the particles; the entire distribution of the particle set is transferred to a high-likelihood region through a probability-based selection method; a random number method is used to generate new particles; and with the above strategies adopted, when the particles move to the high-likelihood, the diversity of the particles can be maintained, and therefore, the estimation accuracy of particle filtering can be improved. The invention also discloses an artificial ant colony algorithm optimization-based particle transfer device. With the particle transfer device adopted, same effects realized by the particle transfer method can be also realized.

Description

technical field [0001] The present invention relates to the technical field of particle filtering, and more specifically, relates to a particle transfer method and device based on artificial ant colony algorithm optimization. Background technique [0002] A common problem in particle filtering is particle degeneration, and the introduction of resampling process can suppress the occurrence of particle degeneration to a certain extent. However, in the process of resampling, the result of copying and retaining particles with higher weights and deleting particles with lower weights will inevitably lead to the weakening of particle diversity. After several iterations, all particles will be concentrated on one point, so that the sample points describing the posterior probability density function are too few or insufficient, especially under the condition of limited samples, this kind of particle diversity weakens for filtering accuracy The influence is more prominent, and even le...

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Application Information

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IPC IPC(8): G06N3/00
CPCG06N3/006
Inventor 梁楠岳鹏飞张鹰宋晓辉刘师刘新张洪敏张伟丁冉
Owner 河南省科学院应用物理研究所有限公司
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