Aiming at the weight degeneracy phenomena in Particle Filter(PF) algorithm, a resampling method improving the diversity based on Genetic Algorithm(GA)-aided PF is presented. It takes the advantages of GA in selection, crossover and inheritance, to make up the shortcomings of resampling. The evolutionary idea of GA is combined with PF by using selection and mutation to improve the weight degeneracy and the diversity of PF. This GA-aided PF is applied to the Global Positioning System(GPS) nonlinear dynamic state space model for data processing. The experimental results based on the collected real GPS data indicate that the GA-aided PF can increase the number of particle, and effectively solve the particle degradation problem; the estimation accuracy of GA-aided PF is better than that of PF.