Resampling Errors of Particle Filtering in Correlation-Extreme Navigation of UAV by Relief Field
M. P. Mukhina, A. P. Prymak · 2019
Resampling techniques for particle filtering in correlation-extreme navigation are investigated. There are several resampling techniques. Among them the following ones are considered in correlation-extreme navigation: multinomial, residual, stratified and systematic Efficiency, computation time and convergence of navigation algorithm by relief field are determined based on circular trajectory of unmanned aerial vehicle. Simulation to get statistical dependencies is conducted for multinomial, residual, stratified and systematic resampling techniques.