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This repository will be a home to the RFS based filters.

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hsnhsyn1/RFS_filters

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RFS_filters

This repository will be a home to the RFS based particle filters.

Motion models available:

  • CV, CA or CT motion models.
  • 2-D or 3-D problems.
  • 2-D CV models accounts for the observer motion (observer accelerations).

Measurement models available:

  • linear : 2-D and 3-D, for CA and CV motion models.
  • nonlinear : bearings-only (2-D only, for now).

Bootstrap particle filter available (not tested)

  • uniform resampling procedure (SIS).

To be added:

  • sensor control function (as a control input to the dynamic system model).
  • adaptation to the Bernoulli (after that Multi Bernoulli) filter concept.
  • some evolutionary approach for the resampling procedure.
  • data generation module.

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