Unscented Kalman filter(UKF) is a new nonlinear filtering method which does not linearize the equations thus avoiding the error due to the linearization.

不敏卡尔曼滤波（UKF）是一种新的非线性滤波的方法，它能减少线性化截断误差对系统定位精度的影响。

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Finally, the computational procedures and simulation analysis of extended Kalman filtering algorithm, unscented Kalman filtering algorithm and particle filtering algorithm is presented.

最后，给出了扩展卡尔曼滤波算法、无迹卡尔曼滤波算法和粒子滤波算法的推导过程和仿真分析。

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