Gaussian distribution resampling algorithm of particle filter

This paper proposes a new resampling algorithm - Gaussian distributed resampling (GDR) algorithm - in order to solve particle impoverishment phenomenon in particle filter. The key idea of proposed algorithm generates the new particles based on Gaussian distribution, which depend on the size of weight in resampling process. In comparison with established resampling algorithms, diversity of particles can be maintained, and thus the proposed algorithm avoids the sample impoverishment.