对它们进行性能测试和比较，并在非线性环境下，讨论这些方法的特点，仿真实验结果表明，在非线性非高斯环境下，UPF 方 法的性能是最优的。 -bayesian filtering methods, such as EKF, UKF, PF and UPF, etc., based on these methods structure The building of the fr a mework, of their performance test and comparison, and t