多目标跟踪的粒子滤波器，多抽样率信号处理，ICA（主分量分析）算法和程序，使用拉亚普诺夫指数的公式，包含位置式PID算法、积分分离式PID，独立成分分析算法降低原始数据噪声。- Multi-target tracking particle filter, Multirate signal processing, ICA (Principal Component Analysis) algorithm and procedures, Raya Punuo Fu index using the formula, It contains positional PID algorithm, integral separate PID, Independent component analysis algorithm reduces the raw data noise.