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

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.