Study on the Adaptive Partial Systematic Resampling Algorithm of Particle Filter

Sample degeneracy is a major problem of particle filter which is based on the sequential importance sampling. In order to solve this problem, the resampling algorithm is introduced in particle filter. Regular resampling algorithm can solve the sample degradation, but it easily lead to sample depletion and increase the computing complexity. The adaptive partial systematic resampling (APSR) algorithm adjusts the resampling time adaptively, before the resampling, classified the particles according to the weight, resampling is carries on the minority particles, The simulation result indicated that it increase the particle diversity and reduces the computation time.