In particle fiter,the most time-cost program is large loop if the particle is large enough. In my program, I met the same problem.15000 particles are selected to describe the 24 state variable.
In order to test whether the C programe can improve the running efficiency I used a similar and simple C program to instead large loop part in Particle Filter. The result is pleased with me.
The first step I run 20s vehicle kinematic simulation and measure its output(noise are added). With these data I expected to estimate the optimal state during the 20s simulation. The result is estimation time spent on the cost large loop is 140s and 6 times longer than the realtime simulation. This is a large progress in the direction of forward to the real time state estimation. If the complete matlab code is used, the state estimation will cost 100minutes with the same measurement data in the previous state estimation.
The efficiency is improved 50 times.
没有评论:
发表评论