Improved particle filter positioning and mapping method based on harmony search algorithm

The invention discloses an improved particle filtering positioning and mapping method based on a harmony search algorithm. The method comprises the following steps: initializing particles and particle weights; obtaining a particle set at the current moment according to the proposal distribution and...

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Bibliographic Details
Main Authors HUANG XIN, LI JIANWEI, CAO LUYANG, TANG HUAN
Format Patent
LanguageChinese
English
Published 13.12.2022
Subjects
BASIC ELECTRONIC CIRCUITRY
CALCULATING
COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
COMPUTING
COUNTING
ELECTRICITY
GYROSCOPIC INSTRUMENTS
IMPEDANCE NETWORKS, e.g. RESONANT CIRCUITS
MEASURING
MEASURING DISTANCES, LEVELS OR BEARINGS
NAVIGATION
PHOTOGRAMMETRY OR VIDEOGRAMMETRY
PHYSICS
RESONATORS
SURVEYING
TESTING
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Summary:The invention discloses an improved particle filtering positioning and mapping method based on a harmony search algorithm. The method comprises the following steps: initializing particles and particle weights; obtaining a particle set at the current moment according to the proposal distribution and calculating particle weights; optimizing particle poses by using a harmony search algorithm; performing further optimization by using a niche algorithm; the optimized particle weight is calculated and normalized; the number of effective particles is calculated, and self-adaptive optimization combination resampling is carried out based on an EWA optimization algorithm of deviation correction; and based on the motion trails of the particles, updating map information of the particles, and establishing an actual map. According to the particle filtering method provided by the invention, more accurate filtering estimation can be obtained while fewer particles are used; the resampling improvement strategy ensures the dive
Bibliography:Application Number: CN202211108246