中文摘要：

粒子退化是标准粒子滤波算法的主要缺陷。针对这一缺陷，提出了一种改进算法，在提出的具有MCMC移动步骤的U粒子滤波算法上进行性能分析，从样本产生和对MCMC移动步骤的使用两个方面对算法进行改进，减小了算法的计算量，提高算法的运算速度。仿真结果表明，改进后的算法大大减少了运算量，从一定程度上提高了运行效率。

英文摘要：

The particle degeneration is the critical issue in the performance of particle filtering algorithm. In order to solve this problem, an improved particle filtering algorithm is proposed. The performance of U particle filtering with MCMC step is analyzed, and the algorithm is improved from samples generation and the use of MCMC for the purpose of reducing the calcu- lation quantity and increasing operating speed. Simulation results show that the improved algorithm can reduce computational complexity, and improve the running efficiency to a certain extent.