中文说明：一个利用Auxiliary Particle Filter 的例子，来源于Gordon的Tutorial On Particle Filter. 该程序实现了此例中的辅助粒子滤波器的算法.RMS接近文章中的结果.
English Description：
An example of using auxiliary particle filter comes from Gordon's tutorial on particle filter. This program implements the algorithm of auxiliary particle filter in this example. RMS is close to the result in this paper