Sequential importance Resampling (SIR), Monte Carlo filtering (Kitagawa 1993), bootstrap filtering algorithm (Gordon et al. 1993) and single distribution resampling (Bejuri W.M.Y.B et al. 2017), are also commonly applied filtering algorithms, which approximate the filtering probability density p ( x k | y 0 , ⋯ ⋯ , y k ) by a weighted set of N samples