The study of Novel Local-loop Particle Filter

In the paper, We proposed a filtering method - a Novel Local-loop Particle Filter Based on the Artificial Fish Algorithm (LPF-AF) for nonlinear dynamic systems. Particle filtering algorithm has been widely used in solving nonlinear Gaussian filtering problems. The proposal distribution is the key issue of the particle filtering, which will greatly influence the performance of algorithm. In the proposed LPF-AF, the local searching of AF is used to regenerate sample particles, which can make the proposal distribution more closed to the poster distribution. There are mainly two steps in the proposed filter. In the first step of LPF-AF, extended Kalman filter was used as proposal distribution to generate particles, then means and variances of the proposal distribution can be calculated. In the second step, some particles move to toward the particle with the biggest weights. The proposed LPF-AF algorithm was compared with other several filtering algorithms and the experimental results show that means and variances of LPF-AF are lower than other filtering algorithms.