Adaptive incremental particle filter method

An adaptive incremental particle filter (AIPF) model was put forward, and its concept, model, basic equations and key calculative steps were given. For the measurement data with unknown system errors in many actual engineering (such as deep space exploration) and the considerable filter errors, accurate measurement model cannot be established. The presented AIPF method applied the accurate incremental particle filter model to automatically conduct adaptive adjustment of the number of particles, so the effects of these unknown measurement system errors and the lack of particles were eliminated. This method can automatically adjust the particles (sample points) and finally improve the nonlinear filtering accuracy. In simulation, the mean and covariance of filtering error decrease by 3.8% and 19.6%, respectively. The method can effectively improve the performance of filter, so it can be easily applied to engineering with simple calculation process.