The sequential importance re-sampling particle filter can abate the influence of particle degeneracy but will easily lead to another problem-sample impoverishment.
再采样粒子滤波虽可缓解粒子退化，但易导致样本贫化；扩展粒子滤波也可在一定程度上解决退化问题，但难以跟踪突变状态。
Degeneracy phenomenon is a main disadvantage to particle filter application, common re-sampling methods can resolve degeneracy phenomenon, but the sample impoverishment is deduced.
退化现象是应用粒子滤波算法的一个主要障碍，常规的再采样方法虽然可解决退化问题，但容易产生粒子耗尽现象。
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