#include?
#include?
#include?
#include?“resampling.h“
//??重采樣算法，參考：博士論文《粒子濾波算法及其應(yīng)用研究》
//
//?void?re_sampling（int*?outIndexdouble?*wp?int?N）
//?{
//?	int?ij;
//?	double?*c=（double?*）malloc（N*sizeof（double））;
//?	double?*u=（double?*）malloc（N*sizeof（double））;
//?	c[0]=wp[0];
//?	for（i=1;i//?		c[i]=c[i-1]+wp[i];
//?
//?	double?s=1.0/N;
//?	double?u1=rand（）;
//?	double?u2=u1/RAND_MAX;
//?	u[0]=u2*s;
//?	for（i=1;i//?		u[i]=u[i-1]+s;
//?	i=0;j=0;
//?	while（i//?	{
//?		if?（u[i]//?		{
//?			outIndex[i]=j;
//?			wp[i]=s;
//?			i=i+1;
//?		}
//?		else
//?			j=j+1;
//?	}
//?	free（u）;
//?	free（c）;
//?}
/************************************************************************/
/*?Multinomial?re-sampling???多項式重采樣?，1993，Gordon計算量大
?*?PURPOSE?:?Performs?the?re-sampling?stage?of?the?SIR?in?order（number?of?samples）?steps.
?*??-?wp?=?Normalized?importance?ratios.
?*??-?outIndex?=?Re-sampled?indices.
?*/
/************************************************************************/
void?Multinomial_rsp（int*?outIndexdouble?*wp?int?N）
{
	int?ij;
	double?*c=（double?*）malloc（N*sizeof（double））;
	c[0]=wp[0];
	for（i=1;i		c[i]=c[i-1]+wp[i];	
	
	i=0;
	while（i	{
		double?u1=rand（）;
		double?u=u1/RAND_MAX;
		j=0;
		while?（c[j]			j=j+1;
		outIndex[i]=j;
		wp[i]=1.0/N;
		i=i+1;
	}
	free（c）;
}
/************************************************************************/
/*?Residual?re-sampling???殘差重采樣?1993?Liu在多項式重采樣的基礎(chǔ)上提出，
?*?計算量小于多項式重采樣算法
?*?PURPOSE?:?Performs?the?re-sampling?stage?of?the?SIR?in?order（number?of?samples）?steps.?
?*?It?uses?Liu‘s?residual?re-sampling?algorithm?and?Niclas‘?magic?line.
?*??-?wp?=?Normalized?importance?ratios.
?*??-?outIndex?=?Re-sampled?indices.
*/
/************************************************************************/
void?Residual_rsp（int*?outIndexdouble?*wp?int?N）
{
	int?ijk;
	double?M=（double）?N;
	double?sum=0.0;
	double?*u=（double?*）malloc（N*sizeof（double））;
	double?*ws=（double?*）malloc（N*sizeof（double））;
	double?*c=（double?*）malloc（N*sizeof（double））;
	for（i=0;i	{
		u[i]=floor（M*wp[i]）;
		sum+=u[i];
	}
	double?N_rdn=M-sum;
	for（i=0;i		ws[i]=（M*wp[i]-floor（M*wp[i]））/N_rdn;

	c[0]=ws[0];
	for（i=1;i		c[i]=c[i-1]+ws[i];

	i=0;
	for?（j=0;j	{
		for（k=0;k<（int）u[j];k++）
		{
			outIndex[i]=j;
			wp[i]=1.0/M;
			i=i+1;
		}
	}

	j=0;
	while（i	{
		double?t1=rand（）;
		double?t=t1/RAND_MAX;
		while（c[j]			j=j+1;
		outIndex[i]=j;
		wp[i]=1.0/M;
		i=i+1;
	}
	free（c）;
	free（ws）;
	free（u）;	
}
/************************************************************************/
/*?Stratified?re-sampling???分層重采樣，1996，Kitagawa對多項式重采樣進行了改進
*/
/************************************************************************/
void?Stratified_rsp（int*?outIndexdouble?*wp?int?N）
{
	int?ij;
	double?s=1.0/N;
	double?*c=（double?*）malloc（N*size

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件????????328??2012-03-28?15:42??resampling.h

?????文件???????4704??2012-03-28?16:07??resampling.cpp

?????文件????6583416??2012-03-27?15:55??粒子濾波算法及其應(yīng)用研究.kdh

-----------?---------??----------?-----??----

??????????????6588448????????????????????3