ANALYSIS OF ERROR PROPAGATION IN PARTICLE FILTERS WITH APPROXIMATION

• 成果类型: Article
• 署名作者: Oreshkin, Boris N.; Coates, Mark J.
• 署名单位: McGill University
• 刊物名称: ANNALS OF APPLIED PROBABILITY
• ISSN/ISSBN: 1050-5164
• DOI: 10.1214/11-AAP760
• 发表日期: 2011
• 页码: 2343-2378
• 关键词: nonlinear filters; STABILITY

摘要

This paper examines the impact of approximation steps that become necessary when particle filters are implemented on resource-constrained platforms. We consider particle filters that perform intermittent approximation, either by subsampling the particles or by generating a parametric approximation. For such algorithms, we derive time-uniform bounds on the weak-sense L-p error and present associated exponential inequalities. We motivate the theoretical analysis by considering the leader node particle filter and present numerical experiments exploring its performance and the relationship to the error bounds.