Infrared Fast-Maneuvering Target Tracking Based on Robust Exact Differentiator with Improved Particle Filter

Algorithm 2

The improved PF for the fast-maneuvering target.

	Inputs: ,
	Outputs:
(1)	Initialization: declare the particle representation .
(2)
(3)	for k = 1:n do
(4)
(5)
(6)	end for
(7)	Compute , using (3) and (4).
(8)	Compute , using (15).
(9)	Compute , .
(10)	Calculate the number of persistent particles in the next step .
(11)	Resample times from , times from .
(12)	Normalize the weights of the particles.
(13)	Compute using (5).