Aimed at solving the problem of particle impoverishment introduced by resampling while relieving degeneracy , a method of fission with selection bootstrap particle filtering (FSBPF) is proposed. At the moment of resampling, effective particles are picked up.The effective particles at this moment corresponding to the particles at last moment are called fission elder generation particles. The number of fission filial generation particles is in direct proportion to the weight of each effective particle, and the filial generation particles are subjected to a filtering and a generation selection . After an iteration, the weights of the new particles can be got according to the measures and the weight formula, and particles with larger weight are chosen to replace the ineffective particles at this time. The results of Monte Carlo simulations show: comparing with the fission bootstrap particle filtering (FBPF) and the random resampling particle filtering (RRPF), FSBPF are more precise in filtering results, increased in effective particles and lower in the speed of degeneracy.