CGPF
The CGPF class implements the Gaussian particle filter with combined time and measurement update.
Configuration
- Configure the number of particles
Set the number of particles used by the filter with the setNumParticles() method.
- Use a semi-analytic measurement update
Enable a semi-analytic measurement update if a measurement model does not require all state variables with the setStateDecompDim() method.
- Enable post-processing of the predicted state estimate
Set a post-processing method for the state prediction with the setPredictionPostProcessing() method.
- Enable post-processing of the updated state estimate
Set a post-processing method for the measurement update with the setUpdatePostProcessing() method.
Supported Models
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System Models |
Measurement Models |
Literature
Jayesh H. Kotecha and Petar M. Djuric, “Gaussian Particle Filtering,” IEEE Transactions on Signal Processing, vol. 51, no. 10, pp. 2592–2601, Oct. 2003.