粒子滤波(Particle Filter),也被称为序列蒙特卡罗方法,是一种用于非线性系统状态估计的贝叶斯滤波方法。以下是一个简单的粒子滤波算法的C语言代码示例。这段代码展示了如何实现一个基本的粒子滤波器,包括初始化粒子、更新粒子权重、重采样等步骤。
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#define NUM_PARTICLES 100
#define STATE_DIM 2
#define SENSOR_NOISE 0.1
#define MOTION_NOISE 0.1
typedef struct {
double x;
double y;
double weight;
} Particle;
void initialize_particles(Particle particles[], int num_particles);
void predict_particles(Particle particles[], int num_particles, double delta_x, double delta_y);
void update_weights(Particle particles[], int num_particles, double measured_x, double measured_y);
void resample_particles(Particle particles[], int num_particles, Particle new_particles[]);
int main() {
Particle particles[NUM_PARTICLES];
Particle new_particles[NUM_PARTICLES];
double measured_x = 1.0;
double measured_y = 1.0;
double delta_x =