Particle filter algorithm based on improved resampling

In order to solve the loss of particle diversity exiting in resampling process of particle filter,this paper presented a particle filter algorithm based on improved resampling.It classified the particles to different groups according to partial resampling.It kept the particles with medium weight values same,and combined the other two groups with high and low weight values linearly and randomly to generate new particles using Thompson-Taylor algorithm.Experimental results show that the improved algorithm can reduce computational complexity and keep the diversity of particles and it also enhances the performance of filter.