关键词: 粒子滤波, 人工免疫, 粒子退化, 目标跟踪, 有效样本

Abstract: For the traditional particle filter tracking algorithm with the problem of particle degeneration，a particle filter tracking algorithm combining artificial immune is presented.The method utilizes the principle of immunology，makes the feature of target template as antigen and the feature of every particle’s corresponding area as antibody，transforms the problem of matching into the affinity between antigen and antibody，keeps the antibody with high affinity by the way of clone and gets rid of the antibody by means of variation，thus the result converges at the global optimal solution rapidly.The diversity of antibody solves the degeneration of traditional particle filter effectively.Using the method in target tracking，the simulation’s results show that the effective sample of particle set is improved apparently.

Key words: particle filter, artificial immune algorithm, particle degeneration, target tracking, effective sample