Magnetic dipole localization based on improved roughening particle filter

To address the problem of low accuracy and filtering divergence existed in general nonlinear application to magnetic dipole target tracking, an improved roughening particle filter was proposed to address magnetic dipole tracking problem. The continuous time filtering method was introduced into the framework of roughening particle filter, and an optimal control quantity in K-L (Kullback-Leibler) divergency sense was computed to serve as the mean value in roughening procedure based on Euler discretization to address the particle degeneracy. The continuous time state-space model of magnetic dipole tracking was established, and the concrete implementation of proposed algorithm was presented. A simulation experiment was implemented to compare the proposed algorithm with present magnetic dipole tracking algorithm, and the results demonstrate that the proposed algorithm performs better than present method with preferable accuracy and stability.