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- 对UKF进行改进,采用最小偏度采样减少采样点数量,并结合实际状态方程和测量方程直接进行线性运算。改进后的UKF对蛇形机动目标的跟踪效果明显优于EKF(the mini-skewness sampling is adopted to reduce the number of sampling points, and the linear operation is carried out directly combining with the actual state equation and me