以最优Bayesian滤波的求解为起点 ,综述了粒子滤波的发展历程、基本思想、算法的各个基本环节、基本的滤波算法及其收敛性以及算法的多种重要衍变形式 。-Solving an optimal Bayesian filtering as a starting point, an overview of the development process of particle filter, the basic idea of ​