中文说明：该文件主要包括了粒子滤波的在MATLAB平台下运行的代码，以及粒子滤波的基本思想，以及详细的介绍。粒子滤波有一定的缺点，例如容易发散，需要的粒子数较多。但粒子滤波也有一定的优点，即为可在非高斯非线性情况下能够有较好的仿真。
English Description：
The file mainly includes the code of particle filter in Matlab platform, and the basic idea of particle filter, as well as a detailed introduction. Particle filter has some disadvantages, such as easy divergence, need more particles. But particle filter also has some advantages, that is, it can have good simulation in the case of non Gaussian nonlinearity.