Importance resampling strategy is adopted to improve the standard PF algorithm.The particle number is reduced through the setting of a valid sample scale.

• 摘要采用重要性重采样技术改进了标准粒子滤波算法，通过设定有效采样尺度来减少权值较小的粒子数目，在一定程度上克服了退化现象。