本文介绍kalman滤波的基本原理及发展现状，主要从模型的建立和非线性模型的线性化两方面进行介绍-In this paper, the basic principle of kalman filter and the development present situation, mainly from the establishment of model and the linearization of the nonlinear model is presented in two aspect

A new approach to improved filter design is presented for the radar tracking problem. An idealized version of the extended Kalman filter, which is unrealizable in practice, is constructed using a universal linearization concept, and then it i