Journal of Sensors / 2021 / Article / Alg 2

Research Article

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

Algorithm 2

Clustering similarity particle filter.
Step 1. Particle initialization
At time , for
At time , for
Step 2. Importance sampling
Predict , sample
Step 3. Similarity measurement
Particle state trajectories
 Exponential transformation
Step 4. Recursive importance weights
Revised proposal distribution
Update weights
Step 5. State estimation

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