多目标跟踪的粒子滤波器，采用了小波去噪的思想，包括最小二乘法、SVM、神经网络、1_k近邻法,GPS和INS组合导航程序，部分实现了追踪测速迭代松弛算法，采用加权网络中节点强度和权重都是幂率分布的模型。- Multi-target tracking particle filter, Using wavelet denoising thought, Including the least squares method, the SVM, neural networks, 1 _k neighbor method, GPS and INS navigation program, Partially achieved tracking speed iterative relaxation algorithm, Using weighted model nodes in the network strength and weight are power law distribution.