扩展卡尔曼滤波器，将卡尔曼滤波理论进一步应用到非线性领域。EKF的基本思想是将非线性系统线性化，然后进行卡尔曼滤波-Extended Calman filter, the Calman filter theory is further applied to the field of nonlinear. The basic idea of EKF is to make the nonlinear system linearization, and then carry on Calman fil