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| Improved Particle Filter Based on Genetic Algorithm |
| YANG Ning-1, QIAN Feng-2a, ZHU Rui-2b |
| (1. School of Electric Power and Automatic Engineering, Shanghai University of Electric Power, Shanghai 200090, China; 2a. School of Electronic, Information and Electrical Engineering;2b. School of Mechanical Engineering, Shanghai Jiaotong University, Shanghai 200240, China) |
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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.
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Received: 30 November 2010
Published: 31 October 2011
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