变频变异粒子滤波算法  

Particle filtration algorithm with variable-frequency mutation

作　　者：余萍[1,2,3] 曹洁 黄开杰[1] YU Ping;CAO Jie;HUANG Kai-jie(College of Electrical and Information Engineering,Lanzhou Univ.of Tech.,Lanzhou730050,China;Key Laboratory of Gansu Advanced Control for Industrial Processes,Lanzhou730050,China;National Demonstration Center for Experimental Electrical and Control Engineering Education,Lanzhou Univ.of Tech.,Lanzhou730050,China)

机构地区：[1]兰州理工大学电气工程与信息工程学院,甘肃兰州730050 [2]甘肃省工业过程控制重点实验室,甘肃兰州730050 [3]兰州理工大学电气与控制工程国家级实验教学示范中心,甘肃兰州730050

出　　处：《兰州理工大学学报》2019年第2期103-108,共6页Journal of Lanzhou University of Technology

基　　金：国家自然科学基金(61763028);甘肃省自然科学基金(1506RJZA104)

摘　　要：针对粒子滤波算法中的粒子退化及重采样所引起的粒子多样性减弱问题,将自适应变频策略应用于免疫理论的变异操作中,并与粒子滤波相结合设计了一种新的变频变异粒子滤波算法.算法引入自适应变频算子实时调节当前时刻的变异频率,控制了变异粒子的数量;再采取不同策略对粒子进行变异操作,以提高粒子对系统状态变化的适应性;最后,对新产生粒子进行权值计算,选择权值较大粒子构成新粒子集,以提高滤波精度.研究结果表明,该方法能够用更少的粒子完成高精度的估计任务,具有更高的滤波精度、粒子多样性、运算速度综合性价比.同时粒子分布更合理,在高似然区外仍然存在一定数量的粒子,为系统发生突变时保持较好的估计精度提供了条件.Aimed at the problem of particle diversity reduction in particle filtration algorithm induced by particle degeneracy and resampling, a strategy of adaptive frequency conversion was employed in mutative operation of immune theory and, cooperated with particle filtration, a novel particle filtration algorithm with variable-frequency mutation was designed. An adaptive variable-frequency operator was introduced into the algorithm to regulate the present mutation frequency in the real time and control the quantity of the mutational particles. Further, various strategies were adopted to carry out the mutational operation for the particles and improve the adaptability of the particles to the change of the system state. Finally, the weight value calculation of the regenerated particles was conducted and a new particle set was composed from the particles with greater weight value to improve filtration accuracy. It was shown by investigation result that this approach could fulfill the high-accurate estimation task with less quantity of particles and would have higher filtration precision, particle variety, and comprehensive ratio of credit to cost of calculation speed. Meantime, the particle distribution would be more rational and a certain quantity of particles would still exist outside of the high likelihood region, so that providing a condition for keeping a better estimation accuracy in case of system mutation.

关 键 词：粒子滤波 变异 粒子退化 自适应变频 多样性 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]