光电跟踪与测量技术研究室知识库

To solve the nonlinear filtering problem in the Bearings-Only Tracking (BOT), an improved particle filter with fine resampling is proposed, called as PF-FR (Particle Filter with Fine Resampling). By introducing distance-comparing process and generating new particle based on optimized combination scheme, PF-FR filter performs better than generic PF-SIR filter both in terms of effectiveness and diversity of the particle system, hence, evidently enhancing tracking accuracy in bearings-only tracking problem. Simulations indicate that the proposed PF-FR algorithm is effective.