粒子滤波高效硬件实现的预采样策略  

Efficient pre-sampling 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,陕西西安710075

出　　处：《武汉大学学报（工学版）》2007年第2期125-128,共4页Engineering Journal of Wuhan University

基　　金：航天"十五"预研基金资助项目(编号:413160203)

摘　　要：为了提高粒子滤波硬件实现的实时性,从挖掘相邻时刻粒子滤波操作重叠性的角度,引入一种预采样和预计算权值策略,使粒子采样和权值计算单元满负荷工作,从而缩短粒子滤波所能接受的量测周期.同时利用权值阈值估计增加预采样的有效性.实验结果表明,本策略在没有对再采样作近似处理的情况下,使允许量测频率提高25%.To improve real-time performance of particle filter hardware, an efficient pre-sampling scheme is proposed through utilizing operational overlapping between two contiguous times, making sampling and weight-calculating units be filled with load at all times; thus shortening the acceptable period of observation. Moreover, weight threshold is employed to increase the validity of pre-sampling. The results of experiment show that the proposed scheme can raise the acceptable frequency of observation 1. 25 times than those methods available in the ease without approximating re-sampling.

关 键 词：粒子滤波 硬件实现 预采样 重叠 权值阈值 

分 类 号：TP391[自动化与计算机技术—计算机应用技术] TP302[自动化与计算机技术—计算机科学与技术]