In this paper, we introduce a stochastically perturbed feedback particle filter and show that it is exact. The novelty is in the fact that the innovation process is stochastically perturbed. Resampled sinkhorn particle filter is also introduced. We then compare their performance with that of other filters in simultaneous state and parameter estimation.

翻译：在本文中,我们引入了一种扭曲的反馈粒子过滤器,并展示了准确的反馈粒子过滤器。新颖之处在于创新过程是随机扰动的。还引入了重新采样的汇角粒子过滤器。然后我们将它们与其他过滤器的性能同时进行状态和参数估计。