粒子滤波算法及其应用
本书系统介绍粒子滤波算法的基本原理和关键技术，针对标准粒子滤波算法存在的粒子退化、计算量大的缺点介绍了多种改进的粒子滤波算法，包括基于重要性密度函数选择的粒子滤波算法、基于重采样技术的粒子滤波算法、基于智能优化思想的粒子滤波算法、自适应粒子滤波算法、流形粒子滤波算法等，并将粒子滤波算法应用于机动目标跟踪、语音增强、传感器故障诊断、人脸跟踪等领域，最后探讨了粒子滤波算法的硬件实现问题，给出了基于DSP和FPCA的粒子滤波算法实现方法。内容简介本书系统介绍粒子滤波算法的基本原理和关键技术,针对标准粒子滤波算法存在的粒子退化、计算量大的缺点介绍了多种改进的粒子滤波算法,包括基于重要性密度函数选择的粒子滤波算法、基于重采样技术的粒子滤波算法、基于智能优化思想的粒子滤波算法、自适应粒子滤波算法流形粒子滤波算法等,并将粒子滤波算法应用于机动目标跟踪、语音增强、传感器故障诊断、人脸跟踪等领域最后探讨了粒子滤波算法的硬件实现问题,给出了基于DsP和FPGA的粒子滤波算法实现方法。本书可供高等院校电子信息、自动化、计算机应用、应用数学等有关专业高年级本科生和研究生,以及从事控制科学与工程、信号与信息处理领域的工程技术人员和研究人员参考阅读。图书在版编目(CIP)数据粒子滤波算法及其应用/朱志宇著.一北京:科学出版社,2010.6ISBN978-7-03-027611-7I.①粒…Ⅱ.①朱…Ⅲ.①非线性控制系统Ⅳ,①O231.2中国版本图书馆CIP数据核字(2010)第08821号责任編辑:孙芳王志欣/责任校对:陈玉责任印制;赵博/封面设计:耕者设计工作室學☆出版北京东黄城根北街|6号邮攻编码:100717http://www.sciencep400酉卹剩厂印刷科学出版社发行各地新华书店经销2010年6月第版开本;B5(720×10002010年6月第一次印刷印张:163/4印数:1-3000字数:324000定价:48.00元(如有印装质量问题,我社负责调换)前言粒子滤波又称序贯蒙特卡罗方法,是一种基于蒙特卡罗方法和递推贝叶斯估计的统计滤波方法,它依据大数定理,采用蒙特卡罗方法来求解贝叶斯估计中的积分运算。粒子滤波算法首先依据系统状态向量的经验条件分布在状态空间产生组随机样本的集合,然后根据观测量不断地调整粒子的权重和位置,通过调整后粒子的信息修正最初的经验条件分布。当样本容量很大时,这种蒙特卡罗描述就近似于状态变量真实的后验概率密度函数。粒子滤波适用于任何能用状态空间模型表示的非高斯背景的非线性随机系统,它完全突破了传统的 Kalman滤波理论框架,对系统的过程噪声和量测噪声没有任何限制,可适用于任何非线性系统,精度可以逼近最优估计,是一种很有效的非线性滤波技术,可广泛应用于数字通信、金融领域数据分析、统计学、图像处理、计算机视觉、自适应估计、语音信号处理、机器学习等方面。粒子滤波算法是现代信号与信息处理学科和统计模拟理论之间的交叉学科,其研究有着重要的理论意义和现实价值,随着计算机性能的迅速提高,这方法日益受到人们的关注。近年来,从解决粒子退化和粒子多样性丧失、提高算法实时性和鲁棒性、降低计算复杂度等角度考虑,国内外学者广泛开展了粒子滤波研究。本书系统总结了近年来粒子滤波的研究成果,针对粒子滤波算法的缺点提出了若干种改进算法,包括基于微分流形的粒子滤波算法、基于人工鱼群的粒子滤波算法、基于神经网络的粒子滤波算法、自适应粒子滤波算法等;广泛探讨了粒子滤波算法的各种应用,给出了粒子滤波算法的硬件实现方法在本书编撰过程中,作者研读了大量文献,参考融合了国内外专家、学者们在相关领域的硏究成果,在此,对他们表示衷心谢意!王建华教授、姜长生教授、张冰教授对本书的编写工作提供了很多宝贵意见,杨官校、李冀、皇丰辉、刘炜、薄超等同学编制了书中的仿真程序,赵成、苏岭东、姜威威等同学绘制了书中的部分图表。在此,向参与和关心本书编写工作的各位同事和同学表示真诚的感谢本书的出版得到了江苏省高校自然科学基金(项目编号:06KJB510030)和中国船舶行业预研基金(项目编号:3.1.5)的资助。由于作者学术水平有限,书中难免存在不妥之处,殷切期望广大读者批评指正。作者2010年3月目录前言第一篇粒子滤波算法第1章绪论1粒子滤波的发展和应用……··d·············.41.2粒子滤波的缺点和现有的解决方法4第2章 Kalman滤波理论2.1标准 Kalman滤波算法R-y滤波器102.3EKF滤波算法24 MVEKF算法142.5UKF算法D春看曲。·鲁b·····。音·看自。··非自b。非…………15第3章从贝叶斯理论到粒子滤波…193.1动态空间模型3.2贝叶斯估计理论203.3蒙特卡罗积分………·.·日···↓..··":·.·“.···香。·。着非●自·223.4序贯蒙特卡罗信号处理2435粒子滤波27第4章基于重要密度函数选择的改进粒子滤波算法334.1GHPF…………………………………………………334.2 EKPF354.3 UPF374.4 IMMPF算法…………384.5二阶中心差分粒子滤波…………404.6基于 Stiefel流形的粒子滤波器研究434.7混合退火粒子滤波器研究45IV粒子滤波算法及其应用第5章基于重采样技术的改进粒子滤波算法最自自自485.1重要性重采样粒子滤波器………485.2基于MCMC的粒子滤波……495、3AVPF……………525.4 RPF∴…545.5核K-粒子滤波算法(KPF)5.6基于权值选择的粒子滤波算法…575.7线性优化重采样粒子滤波算法5.8基于 Stiefel流形和权值优选的粒子滤波器( SM-WSPF)研究605.9基于 Stiefel流形和线性优化重采样的粒子滤波器( SM-LOCR-PF)研究615.10其他常用的重采样方法621仿真分析第6章基于智能优化思想的粒子滤波算法6.1GPF算法…………………736.2 PSO-PF算法p·普·日···曹·。昏鲁··甲啊·。··中日中··串自自·事6.3 AFSA-PF算法6.4AIPF算法鲁音·鲁甲··鲁曹·自·即………906.5仿真分析97第7章基于神经网络的粒子滤波算法……1027.1基于神经网络的重要性权值调整粒子滤波( NNWA-PF)算法…1027.2基于神经网络的重要性样本调整粒子滤波( NNISA-PF)算法1057.3仿真分析……109第8章APF算法音·自·普自自自非●·P,自自··自··非鲁自单最自自音自自自·4非鲁备自音。非·鲁音。··音鲁1148.1似然分布自适应调整1148.2样本数APF8.3改进APF…1188.4APF的仿真分析…119第9章其他粒子滤波算法1269.1免重采样粒子滤波1269.2MPF……………………………………………………132目录9.3分布式粒子滤波134第二篇粒子滤波算法的应用第10章粒子滤波算法在机动目标跟踪中的应用……1390.1基于贝叶斯理论的目标跟踪技术…………………13910.2机动目标的运动模型……14010.3多目标跟踪中的联合概率数据关联方法14210.4非线性、非高斯条件(闪烁噪声)下的机动目标跟踪14510.5基于粒子滤波和JPDA的多目标跟踪数据关联算法10.6仿真实验…150第11章粒子滤波应用于语音信号增强………16111.1语音增强技术………………………………………16111.2TVAR模型11.3基于GPF的语音增强算法11.4语音信号增强仿真实验…I68第12章粒子滤波应用于传感器故障诊断e早看值·看…………17212.1故障诊断的方法…17212.2传感器故障诊断的基本原理…17412.3应用粒子滤波进行故障诊断鲁番“·.····.;·4···17712.4仿真实例分析180第13章粒子滤波算法在人脸跟踪中的应用19013.1人脸跟踪介绍…………………19013.2跟踪算法相关理论基础·19313.3基于直方图的坞值偏移人脸跟踪算法·19613.4基于直方图的粒子滤波人脸跟踪算法20113.5基于椭圆拟合的人脸跟踪算法…20613.6基于流形的人脸跟踪算法p音直最看·鲁鲁··息·翟·唱备售暴4鲁售聊鲁20713.7人脸跟踪仿真…………鲁电210第14章粒子滤波在倒立摆控制系统中的应用21614.1引言21614.2倒立摆控制系统模型216粒子滤波算法及其应用14.3基于神经网络的倒立摆控制系统研究∴21914.4粒子滤波优化神经网络倒立摆控制仿真…22第15章基于DSP实现的粒子滤波算法……22515.1FBPF算法鲁t·息鲁鲁∴22515.2基于硬件实现的改进FBPF算法…22715.3实现改进FBPF算法的DSP···→·········:·..··.·;····..·········22815.4改进FBPF算法DSP实现的软件环境…23015.5改进FBPF算法的软件仿真与DSP实现…23115.6基于改进FBPF算法的GPS导航系统设计237第16章基于FPGA的粒子滤波算法实现∴24116.1基于FPGA的改进FBPF算法的总体设计∴…241l16.2FPGA简介…24216.3改进FBPF算法的软件仿真与FPGA实现245参考文献…:a4a....············.··.··········253第一箭粒子滤波算法
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abaqus script reference manual
ABAQUS脚本参考文件，适合二次开发，ABAQUS各个模块的语句参考ABAQUS Offices and RepresentativesABAQUS, IncABAQUS Europe BVRising Sun millsGaetano Martinolaan 95166 Valley streetP.O. BOx 1637Providence RI 02909-24996201 BP MaastrichtTel:+14012764400The netherlandsFax:+14012764408Tel:+31433566906E-mail:support(@abaqus.comFax:+31433566908http://www.abaqus.comE-mail:info.europe@abaqus.comSales, Support, and ServicesUNITED STATESABAQUS Central, IncABAQUS East LLC1440 Innovation place300 Centerville road. Suite 209WWest Lafayette, IN 47906-1000Warwick. RI 02886-0201Iel:+17654971373Tel:+14017393637Fax:+17654974444Fax:+14017393302E-mail:support(@abaqusCentral.comE-mail: support@ abaqus EastcomAbAqUS Erie. incABAQUS Great Lakes, Inc3601 Green Road. Suite 31614500 Sheldon road. Suite 160Beachwood. 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UnderriverSevenoaks, Kent tN15 OSQTel:+441732834930Fax:+441732834720E-mail: hotline(abaqus. co ukPrefaceThis section lists various resources that are available for help with using ABAQUS, including technicalengineering and systems support, training seminars, and documentationSupportABAQUS, Inc, offers both technical engineering support and systems support for ABAQUS. Technicalengineering and systems support are provided through the nearest local support office. You can contactour offices by telephone, fax, electronic mail, the ABAQUs web-based support system, or regular mailInformation on how to contact each office is listed in the front of each ABAQUS manual. The ABAQUSOnline Support System(AOSS) is accessible through the MY ABAQUS section of the ABAQUS HomePage(www.abaqus.com).Whencontactingyourlocalsupportofficespleasespecifywhetheryouwouldlike technical engineering support (you have encountered problems performing an ABAQUS analysis orcreating a model in ABAQUS) or systems support (ABAQUS will not install correctly, licensing does notwork correctly, or other hardware-related issues have arisenThe ABAQUS Online Support System has a knowledge database of ABAQUS Answers. The ABAQUSAns wers are solutions to questions that we have had to answer or guidelines on how to use ABAQUS. Wewelcome any suggestions for improvements to the support program or documentation. We will ensure thatany enhancement requests you make are considered for future releases. If you wish to file a complaint aboutthe service or products provided by aBaqUs, refer to the aBaQus Home PageTechnical engineering supportABAQUS technical support engineers can assist in clarifying ABAQUS features and checking errors by givingboth general information on using ABAQUS and information on its application to specific analyses. If youhave concerns about an analysis, we suggest that you contact us at an early stage, since it is usually easier tosolve problems at the beginning of a project rather than trying to correct an analysis at the end.Please have the following information ready before calling the technical engineering support hotline, andinclude it in any written contacts:Your site identifier, which can be obtained by typing abaqus whereami at your system prompt(or byselecting Help-On Version from the main menu bar in ABAQUS/CAE or ABAQUS/Viewer)· The version of△ BAQUS that are you usingThe version numbers for ABaQUS/Standard and ABAQUS/Explicit are given at the top of the data(. dat)fileThe version numbers for ABAQUS/CAE and ABAQUS/Viewer can be found by selectingHelp-On Version from the main menu bar.The version numbers for the abaqus Interface for MoldFLOW and the abaQus Interface forMSC ADAMS are output to the screenThe version number for ABAQUS for CAtIa V5 can be found by selecting Help-AboutABAQUS for CaTiA V5 from the main menu bar in either of the aBaqus for CAtIA V5workbenchesThe type of computer on which you are running ABAQUSThe symptoms of any problems, including the exact error messages, if anyWorkarounds or tests that you have already triedWhen calling for support about a specific problem, any available abaqus output files may be helpful inanswering questions that the support engineer may ask youThe support engineer will try to diagnose your problem from the model description and a description ofthe difficulties you are having. The support engineer may need model sketches, which can be sent via fae-mail, or regular mail. Plots of the final results or the results near the point that the analysis terminated mayalso be needed to understand what may have caused the problemIf the support engineer cannot diagnose your problem from this information, you may be asked tosupply the input data. The data can be attached to a support incident in the aBaQUS Online SupportSystem. It may also be sent by means of e-mail, tape, disk, or ftp Please check the ABAQUS Home Page(http://www.abaquscom)forthemediaformatsthatarecurrentlyacceptedAll support incidents are tracked in the abaQUs Online Support System. This enables you( as well asthe support engineer) to monitor the progress of a particular problem and to check that we are resolving supportissues efficiently. To use the ABAQUS Online Support System, you need to register with the system. Visit theMY ABAQUS Section of the ABAQUS Home Page for instructions on how to register. If you are contactingus by means outside the aoss to discuss an existing support problem and you know the incident number,please mention it so that we can consult the database to see what the latest action has been and, thus, giveyou more efficient support as well as avoid duplication of effort. In addition, please give the receptionist thesupport engineers name if contacting us via telephone or include it at the top of any e-mail correspondenceSystems supportABAQUS SyStems support engineers can help you resolve issues related to the installation and running ofABAQUS, including licensing difficulties, that are not covered by technical engineering supportYou should install ABaQUS by carefully following the instructions in the ABAQUS Installation andLicensing Guide If you are able to complete the installation, please make sure that the product verificationprocedure was run successfully at the end of the installation procedure. Successful verification for licensedproducts would indicate that you can run these products on your computer; unsuccessful verification forlicensed products indicates problems with the installation or licensing (or both ) If you encounter problemswith the installation, licensing, or verification, first review the instructions in the abaQus Installation andLicensing Guide to ensure that they have been followed correctly. If this does not resolve the problems,consult the ABAQUS Answers database in the ABaQUS Online Support System for information about knowninstallation problems. If this does not address your situation, please create an incident in the AOSS anddescribe your problem, including the output from abaqus info=support. If you call, mail, e-mail, or faxus about a problem(instead of using the Aoss), please provide the output from abaqus info=support. Itis important that you provide as much information as possible about your problem: error messages from anaborted analysis, output from the abaqus info=support command, etc
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