Gentner, Christian und Zhang, Siwei und Jost, Thomas (2018) Log-PF: Particle Filtering in Logarithm Domain. Journal of Electrical and Computer Engineering, 2018. Hindawi. doi: 10.1155/2018/5763461. ISSN 2090-0147.
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Offizielle URL: https://doi.org/10.1155/2018/5763461
Kurzfassung
This paper presents a particle filter, called Log-PF, based on particle weights represented on a logarithmic scale. In practical systems, particle weights may approach numbers close to zero which can cause numerical problems. Therefore, calculations using particle weights and probability densities in the logarithmic domain provide more accurate results. Additionally, calculations in logarithmic domain improve the computational efficiency for distributions containing exponentials or products of functions. To provide efficient calculations, the Log-PF exploits the Jacobian logarithm that is used to compute sums of exponentials. We introduce the weight calculation, weight normalization, resampling, and point estimations in logarithmic domain. For point estimations, we derive the calculation of the minimum mean square error (MMSE) and maximum a posteriori (MAP) estimate. In particular, in situations where sensors are very accurate the Log-PF achieves a substantial performance gain. We show the performance of the derived Log-PF by three simulations, where the Log-PF is more robust than its standard particle filter counterpart. Particularly, we show the benefits of computing all steps in logarithmic domain by an example based on Rao-Blackwellization.
elib-URL des Eintrags: | https://elib.dlr.de/119165/ | ||||||||||||||||
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Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Log-PF: Particle Filtering in Logarithm Domain | ||||||||||||||||
Autoren: |
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Datum: | 2018 | ||||||||||||||||
Erschienen in: | Journal of Electrical and Computer Engineering | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Ja | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
Band: | 2018 | ||||||||||||||||
DOI: | 10.1155/2018/5763461 | ||||||||||||||||
Verlag: | Hindawi | ||||||||||||||||
ISSN: | 2090-0147 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | particle filter, PF, logarithm, Log-PF, particle filter in logarithm Domain, Channel-SLAM | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Kommunikation und Navigation | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R KN - Kommunikation und Navigation | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Vorhaben GNSS2/Neue Dienste und Produkte (alt) | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Kommunikation und Navigation > Nachrichtensysteme | ||||||||||||||||
Hinterlegt von: | Gentner, Dr. Christian | ||||||||||||||||
Hinterlegt am: | 05 Mär 2018 17:40 | ||||||||||||||||
Letzte Änderung: | 21 Nov 2023 09:13 |
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