A Novel Adaptive Resampling Particle Filtering Algorithm

  title={A Novel Adaptive Resampling Particle Filtering Algorithm},
  author={Yan Zhang and Zhaobin Liu and Zhang Bin and Yu Fahong},
  journal={22017 IEEE International Conference on Computational Science and Engineering (CSE) and IEEE International Conference on Embedded and Ubiquitous Computing (EUC)},
Resampling is employed to alleviate the phenomenon of particle degradation in a particle filter. However, resampling weakens the diversity of particles, and results in inadequate convergence accuracy. To coordinate the conflict between the validity and diversity of the particle sets, an adaptive multi-level resampling based particle filtering algorithm (ARPF) is proposed in this paper. The particle resampling weight space algorithm is divided into multiple levels, and the diversity of the… CONTINUE READING