Particle filter algorithm based on weight selected

Degeneracy phenomenon is a main disadvantage to particle filter application,common re-sampling methods can resolve degeneracy phenomenon,but the sample impoverishment is deduced.Therefore,a particle filter algorithm based on weight selected is proposed.The better particle is selected in terms of its weight to ameliorate the diversity of samples,so that the degeneracy phenomenon is relieved.Simulation results show the feasibility of the proposed algorithm.