resample
- ssapy.utils.resample(particles, ln_weights, obs_times=None, pod=False)[source][source]
Resample particles to achieve more uniform weights. This produces the same number of particles as are input (i.n. dimension matches “particles”) From “Bayesian Multiple Target Tracking” (2nd ed.) p. 100
- Parameters:
particles (numpy.ndarray) – 2D array of particles. Each row is an nD particles
ln_weights (numpy.ndarray) – 1D array of particle log-weights. Length should match number of particles
obs_times ([type], optional) – Time at which observation occured. This is only used if pod=True, defaults to None
pod (bool, optional) – Specify whether this is the special case of regularizing orbit parameters, defaults to False
- Returns:
Resampled particles and weights (same number as input)
- Return type: