Abstract—LEACH is a hierarchy routing protocol for WSN (wireless sensor networks), which is superior to direct communication protocol, minimum-transmission-energy protocol and static clustering protocol. owever, LEACH itself has some defects. In this

一种改进的粒子滤波算法的研究 粒子滤波基本原理，通过改进权重计算、重采样算法， 计算速度得到提高。改进的算法在DSP系统中进行目标跟踪仿真，证明其具有速度快、 精度高的特点-An improved study the basic principles of particle filter particle filter algorithm, recalculation by improving the rights, resampling algorithm to calculate the s