A novel parallel accelerated CRPF algorithm

  • Jinhua WangEmail author
  • Jie Cao
  • Wei Li
  • Ping Yu
  • Kaijie Huang


Particle filtering is one of the most important algorithms for solving state estimation of nonlinear systems and has been widely studied in many fields. However, due to the unknown complex noise in the actual system, its estimation performance is degraded. Moreover, when the number of particles increase, the real-time performance of the algorithm is poor. For these two problems above, this paper proposed a parallel acceleration CRPF (cost-reference particle filter) algorithm based on CUDA (Compute Unified Device Architecture). CRPF does not need known noise statistics in nonlinear system state estimation, which can reduce the influence of unknown noise on state estimation accuracy. Combined with GPU’s (Graphics Processing Unit) multi-thread parallel computing capability, CRPF parallel acceleration can be realized. Since the data association can’t be parallel resampled, all the particles are evenly distributed to multiple blocks, and resampling process can be parallelized by block parallel computing, so as to improve the speed of the algorithm. At the same time, in order to reduce the global particle performance degradation caused by block resampling, the particles with low probability mass in each block are optimized by using a portion of global high-quality particles. Through two sets of simulation experiments, it is proved that the proposed method has improved in estimation accuracy and the real-time performance has been improved significantly, which can provide a new idea for the practical application of nonlinear filtering method.


Particle filter CRPF GPU Accelerated parallel processing CUDA 



The authors are grateful to the anonymous reviewers for their comments, which will help to improve this paper.


This work was supported by National Natural Science Foundation of China [Grant No. 61763028]; Natural science foundation of gansu province [Grant No. 1506RJZA105]; Open class of key laboratory for advanced control of industrial processes in gansu province, 2018.


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© Springer Science+Business Media, LLC, part of Springer Nature 2019

Authors and Affiliations

  1. 1.College of Electrical & Information EngineeringLanzhou University of TechnologyLanzhouChina
  2. 2.Key Laboratory of Gansu Advanced Control for Industrial ProcessesLanzhou University of TechnologyLanzhouChina
  3. 3.National Experimental Teaching Center of Electrical and Control EngineeringLanzhou University of TechnologyLanzhouChina

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