Excluding the latest measuring information, the number of the effective particles reduces, so the performance of the Gaussian particle filter descends, which can conquer the particle degeneracy problem well for the variance of the important sampling weights not getting larger with time. Therefore, an improved Gaussian particle filter method based on the Gaussian-Hermite filter is proposed, and the importance density function is structured by using GHF. Including the latest measuring information, the number of effective particles are increased and filtering accuracy is improved significantly. The experimental results show that the proposed method is superior to the Gaussian particle filter.