在粒子滤波中，防止粒子退化的两个关键因素是选择适当的采样建议分布和重采样算法。
In particle filtering, the two key issues for avoiding particles degradation are the choosing of proper proposal distribution and resampling algorithm.
重采样是解决粒子滤波退化问题的主要方法。
Resampling is a critically operation to solve degeneracy problem with particle filters.
与粒子滤波算法相比，其优点是不需要重采样步骤和不存在粒子退化现象。
Compared with the particle filter (PF), it avoids the resampling step and the particle degeneracy phenomenon.
与粒子滤波算法相比，其优点是不需要重采样步骤和不存在粒子退化现象。
Compared with the particle filter (PF), it avoids the resampling step and the particle degeneracy phenomenon.
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