粒子滤波硬件实现的快速残差再采样策略  

High-speed Residual Resampling Scheme for Hardware Implementation of Particle Filter

作　　者：王来雄[1] 陈养平[1] 黄士坦[1] 

机构地区：[1]西安微电子技术研究所,西安710075

出　　处：《信号处理》2007年第1期97-100,共4页Journal of Signal Processing

基　　金：航天"十五"预研基金项目资助(编号:413160203)

摘　　要：粒子滤波适用于非线性模型和非高斯噪声的目标跟踪,但其大计算量,限制了实时应用。硬件实现是解决此问题的有效途径。本文针对粒子滤波的第三个步骤-再采样的硬件实现,引入动态基准位置和动态阈值设置,将“粒子-标签”残差再采样的高效定点实现方法进行扩展,使其可以直接对非归一化的权值进行再采样。免去需要进行大量除法运算的权值归一化操作,提高粒子滤波的实时性。实验结果表明其有效性。particle filter has been proved to be a powerful tool for object tracking in nonlinearity and non-Gaussianity setting,but large computational cost limits its real-time application. Hardware implementation should be an efficient approach to overcome this drawback. For hardware implementation of resampling-the third stage of particle filter, dynamic benchmark position and dynamic threshold are introduced, extending ＂particle-tagging＂ method to process non-normalization weights directly, avoiding a large number of division calculations for normalization, and increasing real-time performance of particle filter. Experiment results demonstrate its validity.

关 键 词：粒子滤波 硬件实现 再采样 动态基准位置 非归一化权值 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]