Under the conditions of low signal-to-interference ratio, aiming at the disadvantageous influence that particles weights are evaluated by means of measurement likelihood score in the bearings-only passive tracking, a novel particle algorithm based on particle residual consistency measure is proposed. Firstly, particle residual is used to realize the mapping transformation of sampling particle from state space to measurement space. Then, confidence level distance and confidence level matrix are constructed and solved to complete the reasonable evaluation of particles weights. The new method effectively extracts and uses the latest measurement information and particles themselves redundancy and complementary information, therefore it make evaluation results of particles weights more stable and reliable. Finally, experiments demonstrate the efficiency of the proposed algorithm.