关键词: 粒子滤波, 混沌, 免疫算法, 遗传算法, 重采样

Abstract: In view of the particle filtering algorithm in the particle multiplicity degeneration question, this paper proposes a corrective method using chaos immunity genetic algorithm to carry on particle resampling. This algorithm speeds up the search speed using the chaos partial optimization and joins the new chaos sequence through the density computation of immunity principle to supplement the population multiplicity. It sharpens the overall situation search ability, avoids restraining immaturely. The experimental result shows that it has the better overall situation optimization ability and the quicker convergence rate, compared with the particle resampling based on the immunity genetic algorithm.

Key words: particle filtering, chaos, immune algorithm, genetic algorithm, resampling