含有多普勒频率的无迹卡尔曼滤波

针对扩展卡尔曼滤波不含多普勒频率和非线性的缺陷，提出一种新的含有多普勒频率的无迹卡尔曼滤波算法。新算法通过推导观测向量和状态向量之间的函数关系，结合无迹卡尔曼滤波思想，使滤波结果较扩展卡尔曼滤波算法具有更高的精度。最后对新老算法进行了仿真对比分析，结果表明了新算法的有效性和合理性。

Unscented Kalman filter with Doppler frequency

For the disadvantages of extended Kalman filter without Doppler frequency and was nonlinear a new unscented Kalman filter algorithm with Doppler frequency was proposed. The function relationship of the observation vector and the state vector was derived in the new algorithm and it had higher accuracy connected with the idea of the unscented Kalman filter.. Finally, the new algorithm and the old algorithm were simulated and analyzed and the results indicate that the new algorithm is effective and reasonable.