粒子滤波算法，通过此程序，可以成功的仿真出粒子滤波。在滤波过程中粒子滤波可以处理任意形式的概率，而不像Kalman滤波只能处理高斯分布的概率问题。他的一大优势也在于此。 -Particle filter, through this program, you can emulate the success of the particle filter. In the process of filtering particle filter can handle any form of probabilities, rather than the Kalman filter can only handle a Gaussian probability distribution. He s a big advantage　this.