Journal of Sensors / 2021 / Article / Alg 1

Research Article

Improved Particle Filter Using Clustering Similarity of the State Trajectory with Application to Nonlinear Estimation: Theory, Modeling, and Applications

Algorithm 1

Standard particle filter.
Step 1. Particle initialization
At time , for
Sample
At time , for
Step 2. Sequential importance sampling
Predict , sample
Evaluate the normalized importance weights
, and
Step 3. Resampling strategy
Calculate effective samples
Compare resampling threshold
    if
, and
   else
Step 4. State estimation

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