粒子滤波算法摆脱了解决非线性滤波问题时随机量必须满足高斯分布的制约条件，并在一定程度上解决了粒子群样本匮乏问题-Particle filter to get rid of the problem solving nonlinear filtering Gaussian random quantity must meet the constraints, and to some extent, solve the problem of lack of PSO sample