关键词: 粒子滤波, 重采样, 权值, 优化组合, 粒子多样性

Abstract: Sampling Importance Resampling（SIR） arithmetic can reduce the degenerate phenomenon of particles.But it leads to the loss of diversity in particles.The loss makes filter’s performance worse，even makes filtering diffuse.A Weight Optimal Combination Particle Filter（WOCPF） arithmetic is developed based on linear combination of particle weights and the particle swarm average weight，which reduces the amount of abandoned particles，overcomes the loss of diversity and improves its precision.Simulation results show that on the condition of the same particle amount，WOCPF arithmetic is better than SIR arithmetic.

Key words: particle filter, resampling, weight, optimal combination, diversity among the particles