对等边直角三角形阵和立体三棱锥阵进行仿真建模，并进行了定向定位的误差分析，得到了相应的波形。(The simulation modeling of the equilateral triangle array and the stereoscopic three pyramid array is carried out, and the error analysis of directional positioning is carried out, and the corresponding

对目标追踪的ekf算法，pf算法，ukf算法的比较，误差分析(Comparison and error analysis of EKF algorithm, PF algorithm and UKF Algorithm for target tracking)