“…Since in reality, many problems are nonlinear, and their analytical solutions are rarely available, so particle filter is developed to deal with these problems [1], [2], [3]. And it was already used in many areas, like air traffic control [4], [5], meteorology [6], [7], aerospace [8], [9], oceanography [10], autonomous vehicles [11] and robotics [12], remote sensing [13], computer vision [14], [15] and biomedical research [16].…”