量测不确定条件下多传感器自适应粒子滤波算法-控制与决策.pdf

绗?7 鍗 绗? 鏈 鎺 鍒 涓 鍐 绛 2012 骞 4 鏈 Vol. 27 No. 4 Control and Decision Apr. 2012 鏂囩珷缂栧彿: 1001-0920 (2012) 04-0547-04 閲忔祴涓嶇‘瀹氭潯浠朵笅澶氫紶鎰熷櫒鑷€傚簲绮掑瓙婊ゆ尝绠楁硶 1 2 1 1 鑳℃尟娑 , 娼 娉 , 閲 鍕 , 寮 甯 (1. 娌冲崡澶у鍥惧儚澶勭悊涓庢ā寮忚瘑鍒爺绌舵墍锛屾渤鍗楀紑灏?75001 锛?. 瑗垮寳宸ヤ笟澶у鑷姩鍖栧闄紝瑗垮畨710072) 鎽 瑕? 閽堝閲忔祴涓嶇‘瀹氭潯浠朵笅澶氫紶鎰熷櫒閲忔祴鏁版嵁鐨勬湁鏁堝埄鐢ㄩ棶棰? 鎻愬嚭涓€绉嶅浼犳劅鍣ㄨ嚜閫傚簲绮掑瓙婊ゆ尝绠楁硶. 鍒╃敤 闅忔満閲囨牱绛栫暐鍜岄噺娴嬫ā鍨嬭浆绉绘鐜囧疄鐜板綋鍓嶆椂鍒诲浼犳劅鍣ㄩ噺娴嬮泦鍚堢殑閲囨牱, 閫氳繃绮掑瓙婊ゆ尝涓噸閲囨牱姝ラ瀹屾垚浼拌鐘 鎬佸拰閲忔祴闆嗗悎鐨勬洿鏂? 杩涜€屼緷鎹噸閲囨牱鍚庡崟涓紶鎰熷櫒閲忔祴鏁扮洰鍦ㄤ紶鎰熷櫒閲忔祴闆嗗悎涓殑姣旈噸瀹炵幇褰撳墠鏃跺埢浼犳劅鍣ㄩ噺娴 鐨勭‘璁? 璇ョ畻娉曢€氳繃鏈夋晥閲忔祴鐨勫悎鐞嗛€夋嫨, 鏀瑰杽浜嗘壈鍔ㄥ婊ゆ尝绮惧害鍜岃绠楅噺鐨勪笉鍒╁奖鍝? 鐞嗚鍒嗘瀽鍜屼豢鐪熷疄楠屽潎楠岃瘉 浜嗘墍鎻愬嚭绠楁硶鐨勬湁鏁堟€? 鍏抽敭璇岤 闈炵嚎鎬ф护娉紱澶氫紶鎰熷櫒锛涗俊鎭瀺鍚堬紱绮掑瓙婊ゆ尝锛涢噺娴嬩笉纭畾 涓浘鍒嗙被鍙耳 TP391 鏂囩尞鏍囪瘑鐮? A Multi-sensor adaptive particle 铿乴ter in measurement uncertainty 1 2 1 1 HU Zhen-tao , PAN Quan , JIN Yong , ZHANG Fan (1. Institute of Image Processing and Pattern Recognition锛孒e鈥檔an University 锛孠aifeng 475001锛孋hina 锛?. College of Automation 锛孨orthwestern Polytechnical University 锛孹i鈥檃n 710072 锛孋hina 锛嶤orrespondent 锛欻U Zhen-tao 锛孍-mail: hzt@henu.edu.cn) Abstract 锛氾細锛欰iming at the effective utilization of multi-sensor measurement in measurement uncertainty, a multi-sensor adaptive particle 铿乴ter algorithm is proposed. In the algorithm, multi-sensor measurement set is sampled by the random sampling strategy and measurement model transition probability. Then state estimation and the update of multi-sensor measurement set are realized by re-sampling in particle 铿乴ter. Finally, the current moment measurement is validated according to the proportion of measurement number of single sensor