impresample.asv

来自「基于SIR粒子滤波器的故障诊断方法」· ASV 代码 · 共 12 行

function [x, w] = impResample(xpar, wpar)%the resample code is derived from article named <Novel approach to nonlinear/non-Gaussian bayesian state estimation> 3.3discussion
cumw = cumsum(wpar);
K = length(xpar);
for i=1:K
r = rand;
j=1;
while cumw(j)<r
j = j+1;
end
x(i) = xpar(j);
end
w = 1/K*ones(K,1);