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Unscented Particle Filter algorithm based on artificial fish swarm algorithm

Aiming at the problem of Unscented Particle Filter (UPF) algorithm such as particles degeneracy and particles impoverishment, by use of the behaviors of preying, swarming and following in the artificial fish swarm algorithm, an artificial fish swarm algorithm is used to make the particles of UKF move toward the global optimum, which optimalizes the resampling process and relieves the problem of particles degeneracy and impoverishment. Experiments show that this algorithm improves the estimation accuracy of UPF algorithm.