An efficient particle filter with variable number of particles for bearings-only tracking

In this paper, the observability in BOT problem is analyzed and defined in form of leg by leg, the basic relationship between observability and the number of particles is opened out, and a fast particle filter with variable number of particles which calculated by this relationship is proposed to adopt the observability in BOT to save the computation resource. The simulation results show that the definition of observability accords with the reality and the proposed method decreases the computation time while remaining the tracking quality.