An Improved Algorithm Based on Particle Filter for 3D UAV Target Tracking
Paper i proceeding, 2019

The widespread application of unmanned aerial vehicles (UAVs) urgently requires an effective tracking algorithm as technical support. Particle filter has been widely applied in maneuvering target tracking, however, there has been no suitable solution to the trade-off between weight degeneracy and particle diversity during the process of resampling. In this paper, we propose an improved particle filter algorithm based on systematic resampling with additional random perturbation. This method ensures that particle filter maintains particle diversity and reduces weight degeneracy under environments with different noise types, simultaneously. The simulation results demonstrate that the proposed algorithm generates more accurate filtered trajectory than generic particle filter, especially under the environment with low noise.


Wenjing Xie

Beijing University of Posts and Telecommunications (BUPT)

L. Wang

Beijing University of Posts and Telecommunications (BUPT)

Beijing Key Laboratory of Work Safety Intelligent Monitoring

Bo Bai


Bile Peng

Chalmers, Elektroteknik, Kommunikation, Antenner och Optiska Nätverk

Zhiyong Feng

Ministry of Education China

IEEE International Conference on Communications

15503607 (ISSN)

Vol. 2019-May 8762028
978-153868088-9 (ISBN)

2019 IEEE International Conference on Communications, ICC 2019
Shanghai, China,




Datorseende och robotik (autonoma system)



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