Therefore, a new method-auxiliary particle filter (APF) is presented in which an assigned variable is brought and the weights change more smoothly with two rounds weighted processes.

• 为此，本文引入一个辅助变量，利用一种新的使用二次加权操作的粒子滤波算法-辅助粒子滤波算法来对采样重要性重抽样算法进行改进。