he real acoustic data recorded in a typi- cal meeting room using a small-scale microphone array is used for tracking experiments． Results show that the proposed algorithm can realise effectively the orientation tracking of the randomly walking speaker，in which，the root mean square error of tracking in direction of the hori- zontal angle and the elevation are all less than 5°．

粒子滤波
........\粒子滤波
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........\........\Observe_and_Estimate.m
........\........\Propagation.m
........\........\Select.m
........\........\show2.fig
........\........\show2.m
........\........\tracker.m
........\........\tracker1.m
........\........\tracker改动.m
........\........\weight.m

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