In order to improve the performance of the probability hypothesis density(PHD) algorithm based particle filter(PF) in terms of number estimation and states extraction of multiple targets, a new probability hypothesis ...In order to improve the performance of the probability hypothesis density(PHD) algorithm based particle filter(PF) in terms of number estimation and states extraction of multiple targets, a new probability hypothesis density filter algorithm based on marginalized particle and kernel density estimation is proposed, which utilizes the idea of marginalized particle filter to enhance the estimating performance of the PHD. The state variables are decomposed into linear and non-linear parts. The particle filter is adopted to predict and estimate the nonlinear states of multi-target after dimensionality reduction, while the Kalman filter is applied to estimate the linear parts under linear Gaussian condition. Embedding the information of the linear states into the estimated nonlinear states helps to reduce the estimating variance and improve the accuracy of target number estimation. The meanshift kernel density estimation, being of the inherent nature of searching peak value via an adaptive gradient ascent iteration, is introduced to cluster particles and extract target states, which is independent of the target number and can converge to the local peak position of the PHD distribution while avoiding the errors due to the inaccuracy in modeling and parameters estimation. Experiments show that the proposed algorithm can obtain higher tracking accuracy when using fewer sampling particles and is of lower computational complexity compared with the PF-PHD.展开更多
Traditionally, it is widely accepted that measurement error usually obeys the normal distribution. However, in this paper a new idea is proposed that the error in digitized data which is a major derived data source in...Traditionally, it is widely accepted that measurement error usually obeys the normal distribution. However, in this paper a new idea is proposed that the error in digitized data which is a major derived data source in GIS does not obey the normal distribution but the p-norm distribution with a determinate parameter. Assuming that the error is random and has the same statistical properties, the probability density function of the normal distribution, Laplace distribution and p-norm distribution are derived based on the arithmetic mean axiom, median axiom and p-median axiom, which means that the normal distribution is only one of these distributions but not the least one. Based on this ideal distribution fitness tests such as Skewness and Kurtosis coefficient test, Pearson chi-square chi(2) test and Kolmogorov test for digitized data are conducted. The results show that the error in map digitization obeys the p-norm distribution whose parameter is close to 1.60. A least p-norm estimation and the least square estimation of digitized data are further analyzed, showing that the least p-norm adjustment is better than the least square adjustment for digitized data processing in GIS.展开更多
The accurate estimation of road traffic states can provide decision making for travelers and traffic managers. In this work,an algorithm based on kernel-k nearest neighbor(KNN) matching of road traffic spatial charact...The accurate estimation of road traffic states can provide decision making for travelers and traffic managers. In this work,an algorithm based on kernel-k nearest neighbor(KNN) matching of road traffic spatial characteristics is presented to estimate road traffic states. Firstly, the representative road traffic state data were extracted to establish the reference sequences of road traffic running characteristics(RSRTRC). Secondly, the spatial road traffic state data sequence was selected and the kernel function was constructed, with which the spatial road traffic data sequence could be mapped into a high dimensional feature space. Thirdly, the referenced and current spatial road traffic data sequences were extracted and the Euclidean distances in the feature space between them were obtained. Finally, the road traffic states were estimated from weighted averages of the selected k road traffic states, which corresponded to the nearest Euclidean distances. Several typical links in Beijing were adopted for case studies. The final results of the experiments show that the accuracy of this algorithm for estimating speed and volume is 95.27% and 91.32% respectively, which prove that this road traffic states estimation approach based on kernel-KNN matching of road traffic spatial characteristics is feasible and can achieve a high accuracy.展开更多
The design, analysis and parallel implementation of particle filter(PF) were investigated. Firstly, to tackle the particle degeneracy problem in the PF, an iterated importance density function(IIDF) was proposed, wher...The design, analysis and parallel implementation of particle filter(PF) were investigated. Firstly, to tackle the particle degeneracy problem in the PF, an iterated importance density function(IIDF) was proposed, where a new term associating with the current measurement information(CMI) was introduced into the expression of the sampled particles. Through the repeated use of the least squares estimate, the CMI can be integrated into the sampling stage in an iterative manner, conducing to the greatly improved sampling quality. By running the IIDF, an iterated PF(IPF) can be obtained. Subsequently, a parallel resampling(PR) was proposed for the purpose of parallel implementation of IPF, whose main idea was the same as systematic resampling(SR) but performed differently. The PR directly used the integral part of the product of the particle weight and particle number as the number of times that a particle was replicated, and it simultaneously eliminated the particles with the smallest weights, which are the two key differences from the SR. The detailed implementation procedures on the graphics processing unit of IPF based on the PR were presented at last. The performance of the IPF, PR and their parallel implementations are illustrated via one-dimensional numerical simulation and practical application of passive radar target tracking.展开更多
交叉熵法可显著加速电网可靠性评估,但往往聚焦于独立随机变量,若将其拓展至相关性变量可进一步提升加速性能。为有效获取相关性变量的重要抽样密度函数以实现其重要抽样,针对相关性建模中广泛使用的核密度估计模型(kernel density esti...交叉熵法可显著加速电网可靠性评估,但往往聚焦于独立随机变量,若将其拓展至相关性变量可进一步提升加速性能。为有效获取相关性变量的重要抽样密度函数以实现其重要抽样,针对相关性建模中广泛使用的核密度估计模型(kernel density estimation,KDE)开展了交叉熵优化研究。因KDE模型不属于指数分布家族,传统交叉熵优化难以实施,故利用复合抽样算法特点提出了新颖的直接交叉熵优化方法,推导出KDE模型最优权重参数的解析表达式。因权重参数数量级较小,直接优化易导致准确性退化,故基于子集模拟思想进一步提出间接交叉熵优化方法,将较小的权重参数优化转换成较大的条件概率优化,提升了优化准确性。通过MRTS79和MRTS96可靠性测试系统的评估分析,验证了所提方法在含相关性变量电网可靠性评估中的高效加速性能。展开更多
基金Project(61101185) supported by the National Natural Science Foundation of ChinaProject(2011AA1221) supported by the National High Technology Research and Development Program of China
文摘In order to improve the performance of the probability hypothesis density(PHD) algorithm based particle filter(PF) in terms of number estimation and states extraction of multiple targets, a new probability hypothesis density filter algorithm based on marginalized particle and kernel density estimation is proposed, which utilizes the idea of marginalized particle filter to enhance the estimating performance of the PHD. The state variables are decomposed into linear and non-linear parts. The particle filter is adopted to predict and estimate the nonlinear states of multi-target after dimensionality reduction, while the Kalman filter is applied to estimate the linear parts under linear Gaussian condition. Embedding the information of the linear states into the estimated nonlinear states helps to reduce the estimating variance and improve the accuracy of target number estimation. The meanshift kernel density estimation, being of the inherent nature of searching peak value via an adaptive gradient ascent iteration, is introduced to cluster particles and extract target states, which is independent of the target number and can converge to the local peak position of the PHD distribution while avoiding the errors due to the inaccuracy in modeling and parameters estimation. Experiments show that the proposed algorithm can obtain higher tracking accuracy when using fewer sampling particles and is of lower computational complexity compared with the PF-PHD.
文摘Traditionally, it is widely accepted that measurement error usually obeys the normal distribution. However, in this paper a new idea is proposed that the error in digitized data which is a major derived data source in GIS does not obey the normal distribution but the p-norm distribution with a determinate parameter. Assuming that the error is random and has the same statistical properties, the probability density function of the normal distribution, Laplace distribution and p-norm distribution are derived based on the arithmetic mean axiom, median axiom and p-median axiom, which means that the normal distribution is only one of these distributions but not the least one. Based on this ideal distribution fitness tests such as Skewness and Kurtosis coefficient test, Pearson chi-square chi(2) test and Kolmogorov test for digitized data are conducted. The results show that the error in map digitization obeys the p-norm distribution whose parameter is close to 1.60. A least p-norm estimation and the least square estimation of digitized data are further analyzed, showing that the least p-norm adjustment is better than the least square adjustment for digitized data processing in GIS.
基金Projects(LQ16E080012,LY14F030012)supported by the Zhejiang Provincial Natural Science Foundation,ChinaProject(61573317)supported by the National Natural Science Foundation of ChinaProject(2015001)supported by the Open Fund for a Key-Key Discipline of Zhejiang University of Technology,China
文摘The accurate estimation of road traffic states can provide decision making for travelers and traffic managers. In this work,an algorithm based on kernel-k nearest neighbor(KNN) matching of road traffic spatial characteristics is presented to estimate road traffic states. Firstly, the representative road traffic state data were extracted to establish the reference sequences of road traffic running characteristics(RSRTRC). Secondly, the spatial road traffic state data sequence was selected and the kernel function was constructed, with which the spatial road traffic data sequence could be mapped into a high dimensional feature space. Thirdly, the referenced and current spatial road traffic data sequences were extracted and the Euclidean distances in the feature space between them were obtained. Finally, the road traffic states were estimated from weighted averages of the selected k road traffic states, which corresponded to the nearest Euclidean distances. Several typical links in Beijing were adopted for case studies. The final results of the experiments show that the accuracy of this algorithm for estimating speed and volume is 95.27% and 91.32% respectively, which prove that this road traffic states estimation approach based on kernel-KNN matching of road traffic spatial characteristics is feasible and can achieve a high accuracy.
基金Project(61372136) supported by the National Natural Science Foundation of China
文摘The design, analysis and parallel implementation of particle filter(PF) were investigated. Firstly, to tackle the particle degeneracy problem in the PF, an iterated importance density function(IIDF) was proposed, where a new term associating with the current measurement information(CMI) was introduced into the expression of the sampled particles. Through the repeated use of the least squares estimate, the CMI can be integrated into the sampling stage in an iterative manner, conducing to the greatly improved sampling quality. By running the IIDF, an iterated PF(IPF) can be obtained. Subsequently, a parallel resampling(PR) was proposed for the purpose of parallel implementation of IPF, whose main idea was the same as systematic resampling(SR) but performed differently. The PR directly used the integral part of the product of the particle weight and particle number as the number of times that a particle was replicated, and it simultaneously eliminated the particles with the smallest weights, which are the two key differences from the SR. The detailed implementation procedures on the graphics processing unit of IPF based on the PR were presented at last. The performance of the IPF, PR and their parallel implementations are illustrated via one-dimensional numerical simulation and practical application of passive radar target tracking.
文摘交叉熵法可显著加速电网可靠性评估,但往往聚焦于独立随机变量,若将其拓展至相关性变量可进一步提升加速性能。为有效获取相关性变量的重要抽样密度函数以实现其重要抽样,针对相关性建模中广泛使用的核密度估计模型(kernel density estimation,KDE)开展了交叉熵优化研究。因KDE模型不属于指数分布家族,传统交叉熵优化难以实施,故利用复合抽样算法特点提出了新颖的直接交叉熵优化方法,推导出KDE模型最优权重参数的解析表达式。因权重参数数量级较小,直接优化易导致准确性退化,故基于子集模拟思想进一步提出间接交叉熵优化方法,将较小的权重参数优化转换成较大的条件概率优化,提升了优化准确性。通过MRTS79和MRTS96可靠性测试系统的评估分析,验证了所提方法在含相关性变量电网可靠性评估中的高效加速性能。
