中文说明：详细介绍了常用的四中粒子重采样算法，并给出了他们的性能比较，对研究改进型粒子算法很有帮助，减轻很多工作负担
English Description：
This paper introduces the commonly used four particle resampling algorithm in detail, and gives their performance comparison, which is very helpful for the research of improved particle algorithm and reduces a lot of workload