Aiming at the disadvantageous influence of evaluating particles weights on the filtering results in the bearings-only passive tracking of low signal-to-interference ratio, a novel particle filter algorithm based on particle residual consistency measure was proposed. Firstly, particle residual was used to realize the mapping transformation of sampling particle from state space to measurement space. Then, confidence level distance and confidence level matrix were constructed to complete the reasonable evaluation of particles weights. The new method effectively extracts and uses the latest measurement information and redundancy and complementary information among particles, which makes the evaluation results of particles weights more stable and reliable. Finally, experiments demonstrate the efficiency of the proposed algorithm.