An efficient fixed-point implementation of residual resampling scheme for high-speed particle filters

A novel low-complexity residual resampling scheme for particle filters is presented. The proposed scheme uses a simple but effective "particle-tagging" method to compensate for a possible error that can be caused by finite-precision quantization in the resampling step of particle filtering. The scheme guarantees that the number of particles after resampling is always equal to the number of particles before resampling. The resulting scheme is suitable for high-speed physical realization when the number of particles is a power of two.