function indx = smc_resampling(weights,noise,number)
indx = zeros(number,1);
cumweights = cumsum(weights);
randvec = (transpose(1:number)-1+noise(:))/number;
j = 1;
for i=1:number
while (randvec(i)>cumweights(j))
j = j+1;
end
indx(i) = j;