Improved roughening algorithm and hardware implementation for particle filter applied to bearings-only tracking

In this paper, we propose an improved roughening algorithm and its hardware architecture to solve the sample impoverishment problem for particle filter (PF) applied to bearings-only tracking (BOT) problem. The reasonable distribution of the roughening jitter is calculated from the innovations and states related to the survived particles. Simulation results indicate that the PF with the proposed improved roughening algorithm outperforms the general PF and the PF with existing roughening algorithm. Experimental study shows that this roughening algorithm can be efficiently implemented in hardware and the PF with this roughening algorithm can effectively solve the BOT problem.