documentation for optimal filtering toolbox for mathematical software package Matlab. The methods in the toolbox include Kalman filter, extended Kalman filter and unscented Kalman filter for discrete time state space models. Also included in the

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标准的ekf,ukf程序，对初学者帮助非常大，可以参考该程序，并在此基础上实现改进。-The standard ekf, ukf program for beginners to help is very big, you can refer to the program, and on this basis to realize improvement.