Table 1 Pseudo code of the MP operation

2: for i = 1 to N do

3:      $x_{\mathsf{\text{temp}}}^{\left(1\right)}~f\left(x_{t-1}^{\left(i\right)},n_{t-1}^{\left(1\right)}\right)$//Generate 1^st predicted particle

4:      $w_{\mathsf{\text{temp}}}^{\left(1\right)}=w_{t-1}^{\left(i\right)}\cdot p\left(y_t|x_{\mathsf{\text{temp}}}^{\left(1\right)}\right)$

5:      $x_t^{\left(i\right)}=x_{\mathsf{\text{temp}}}^{\left(1\right)}$

6:      $w_t^{\left(i\right)}=w_{\mathsf{\text{temp}}}^{\left(1\right)}$

7:      for Predict count j = 2 to P do

8:      $x_{\mathsf{\text{temp}}}^{\left(j\right)}~f\left(x_{t-1}^{\left(i\right)},n_{t-1}^{\left(j\right)}\right)$

9:      $w_{\mathsf{\text{temp}}}^{\left(j\right)}=w_{t-1}^{\left(i\right)}\cdot p\left(y_t|x_{\mathsf{\text{temp}}}^{\left(j\right)}\right)$

10:      LPS($x_t^{\left(i\right)}$,$w_t^{\left(i\right)}$,$x_{\mathsf{\text{temp}}}^{\left(j\right)}$,$w_{\mathsf{\text{temp}}}^{\left(j\right)}$)

11:     end for

12:   end for