扩展卡尔曼滤波算法是目前最常用的非线性滤波算法之一，其核心思想就是将非线性模型线性化后，然后采用标准的卡尔曼滤波算法进行迭代滤波，这是一种最基本的解决非线性滤波问题的方法，目前在目标跟踪领域得到了广泛的运用。-Extended Kalman filter is the most commonly used one of nonlinear filtering algorithm, the core idea is that the nonlinear model is linearized, and then apply the standard Kalman filtering algorithm to filter, which is one of the most solve the basic problem of nonlinear filtering methods, the current target tracking has been widely used.