Improved particle filtering method for low-stagger sequence sampling reforming

The invention discloses a low-stagger sequence sampling reforming improved particle filtering method, and belongs to the technical field of particle filtering. Generating low-stagger samples, and using a Halton sequence to generate the low-stagger samples in the interval of the same dimension [0, 1] as the problem; sample projection: linearly projecting a low-stagger sample to a branch set of a prior distributed sample space to obtain an initial equal-weight particle set; dividing the branch set of the sample space into a plurality of specified disjoint sub-intervals, and calculating the set weight of each sub-interval to obtain the probability density represented by a weighted set; using the clustering center of each subinterval set to update the new weight of the weighted subinterval set according to the likelihood of the clustering center; and estimating a state value according to the weighted subinterval set. The method can effectively alleviate particle depletion and degradation problems and reduce the o