实现了30节点的状态估计，对比了ekf,ukf,ckf和aukf-A 30-node state estimation is implemented, comparing ekf, ukf, ckf, and aukf

此文件实现了自适应UKF和UKF算法对运动刚体的位姿估计，采用噪声估计器在线估计过程噪声的均值和方差，避免了人为设定噪声的统计特性。(This document implements adaptive UKF and UKF algorithm to estimate pose and pose of moving rigid body, and uses noise estimators to estimate the mean and variance of process noise on

鲁棒UKF在导航方面应用，天文导航，惯性导航(Robust UKF application in navigation, astronomical navigation, inertial navigation)