粒子滤波基本算法包括两个 基本部分：（1）顺序重要性采样算法（SequentialImportanceSampling，SIS），（2）采样 重要性重采样算法（SamplingImportanceResampling，SIR）。
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顺序重要性采样算法 Sequential Importance Sampling ; SIS
序贯重要性采样算法 Sequential Importance Sampling ; SIS
采样重要性重采样算法 Sample Importance Resample
重要性重采样算法 Sampling Importance Resampling ; SIR
我们在设计算法模型时考虑了这方面的重要性，利用像素点的平均采样提高了算法的效率。
We took into account the importance of this aspect in the design of algorithms model, and increased the efficiency of algorithm using the average sampling pixels.
粒子滤波算法(PF)中，序列重要性采样引起采样点贫化，进一步经过重采样后造成分集度损失。
In particle filters (PF), sequential importance sampling will result in sample impoverishment and further the loss of diversity after resampling.
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