关键词: 烟花算法, 高斯分布, 粒子滤波, 粒子多样性

Abstract:

To deal with the weight degeneration and particle impoverishment of the particle filter, firstly, the diversity index of particle distribution is defined, and the reason why standard fireworks algorithm (FWA) can??t be directly used to optimize particle filter is analyzed, then hybrid Gaussian distribution is used to improve the Gauss function of standard FWA to the hybrid Gauss mutation operator, which is used to increase the probability of generating better particles. To optimize particle filter with improved FWA, fireworks selection strategy is improved, which makes time complexity of fireworks selection strategy reduce from [O(N2)] to [O(N)]. To ensure optimized particle filter doesn??t lose the basis of bias filter theory, the calculation method of particle weight is redefined. And then, the      convergence of FWA-PF (fireworks algorithm particle filter) is discussed, and the operation mechanism of FWA-PF is expounded. Finally, through the experiment simulation, the BenchMark test of imp-FWA is carried out, the performance of FWA-PF is analyzed synthetically, and the setting method of the explosion radius and the number of spark explosions which affect the performance of the algorithm is described in detail. The experimental results show that the improved FWA optimize standard particle filter can effectively solve the problem of degeneration and impoverishment of the particle filter.

Key words: fireworks algorithm, Gauss distribution, particle filter, particle diversity