“…In this filter, particles are broken into smaller samples and a new weight is attributed to each particle . Moreover, to solve particle impoverishment, several classic approaches are proposed in the literature, such as: adaptive particle filter (APF) [22][23][24][25], FBPF [15], auxiliary particle filters [26], unsecented Kalman filter based particle filters [27] etc. On the other hand, several intelligent systems based methods based on artificial neural networks and fuzzy systems are used in system [28][29] the literature to overcome particle impoverishment with low computational burden [30][31].As the main contribution, in this paper, particles are classified into three groups according to their weights; then, decisions about particles are made based on the group they are categorized to.…”