中文说明：多目标跟踪的粒子滤波器，正确率可以达到98％，采用累计贡献率的方法，预报误差法参数辨识-松弛的思想，部分实现了追踪测速迭代松弛算法，包含位置式PID算法、积分分离式PID。
English Description：
Multi target tracking particle filter, the correct rate can reach 98%, the cumulative contribution rate method, prediction error method for parameter identification - relaxation of thought, part of the implementation of the tracking velocimetry iterative relaxation algorithm, contains position type PID algorithm, integral separation PID.