Novel Roughening Algorithm and Hardware Architecture for Bearings-Only Tracking Using Particle Filter

Abstract

In the bearings-only tracking problem, usually the uncertainty of process model is small compared with the uncertainty of measurement and this will lead to severe sample impoverishment when using particle filter (PF). In this paper, we proposed a novel roughening algorithm and its hardware architecture to solve this problem. The reasonable distribution of the roughening jitter is calculated from the innovations related to the survived particles. Simulation results indicate that for the bearings-only tracking problem, the PF with the proposed roughening algorithm outperforms the general PF and the PF with the typical roughening algorithm. Experimental study indicates that this roughening algorithm can be efficiently implemented in hardware and can effectively solve the bearings-only tracking problem with fast processing rate and low complexity.