粒子濾波技術通過非參數化的蒙特卡羅模擬方法實現遞推貝葉斯濾波，適用于非線性
目標運動模型、非高斯噪聲的目標跟蹤。在實際應用中，初始粒子選取的精度對濾波效果往往會造成很大的影響；本文將競爭策略應用于初始粒子的選取，通過初始觀測值生成若干粒子群，并在濾波初始階段統計各粒子群中的有效粒子數量，最后選擇有效粒子數量最多的粒子群構造初始化粒子。仿真結果表明，本算法可以提高初始粒子選取的精度，從而改善濾波效果。
關鍵詞：粒子濾波；初始化；目標跟蹤
Abstract：Particle filter realizes recursive Bayes filter through non-parameter Monte Carlo
technique, it can be applied to target tracking in nonlinear and non-Gaussian environment. In
practice, the accuracy of initial particles will affect the result of filter heavily. In this paper, initial particles comes out through competition-cooperation strategy, that is, initial measurements give birth to several particle groups, each of the groups is tested separately in the beginning, the group with the most number of efficient particles is selected as the initial particles. Results of simulation show that the method improves the accuracy of initial particles, which makes the effect of filter much better.
Key words: Particle Filter; Initiation; Target Tracking