基于回声隐藏的信息隐藏算法，是一种音频信号的水印技术，包括隐藏信息的嵌入和提取，以及对于噪声，MP3压缩，滤波，重采样和延迟攻击的模拟。-Based on echo hiding information hiding algorithm, is an audio signal watermarking techniques, including embedding and extracting hidden information, as well as for noise, MP3 compr

利用matlab实现无迹卡尔曼滤波（UKF）算法，并给出仿真结果-Using matlab to realize no trace kalman filter (UKF) algorithm, and the simulation results is given