how to clean a particulate filter?

my bmw x3 2.0 diesel .has a fault that a friend has suggested may be the particulate filter ,how do i tell if its regenerating itself . I know its supposed to make some kind of noise but not having heard it before I dont know if it making the noise or not.the fault is that when you pull away the car takes a second or two before it accelerates.I have copied someone elses fault which sounds very similar & pasted it below
i have a BMW X3 2.0 diesle y o m 2006.the problem is that the engene is not responding to the accalarator imidatly. example when you are on gear and you nead to over take a car and you try to accalarate and the engene is reved 2000RPM it would not accalarate. it does the same even if there is no gear if you try to rev the engene it would stop on 2000RPM and after some time it would continue to rev.if you dropp down the revs to about 1500RPM and than try to accalarate then it will accalarate without any problems. the engene check warning is always on although some times it goes off and appeares again after some time. we tryed to diagnose the problem and all these faults appeared.
3FF0 air mass flow sensor which we changed ant it remained the same and even when we diadnosed it the air mass flow sensor re appearad.
4212, 4222,4232,4242 which are the glow plugs
4166 particulate filter system
4030 exhaust backpressure sensor before particulate filter, signal
4020 exhaust backpressure sensor before particulate filter, signal
4207 axygen sensor , heater activation
4B10 smooth running controller
4CF3 exhaust backpressure sensor, signal

the particular filter we cleaned.
what does the glow plugs have to do with this problem.

ANY HELP WITH THIS WOULD BE MUCH APPRECIATED