从改进提议分布的成片野值容错能力入手，提出了基于残差正交判别的UPF容错滤波算法，该算 法将残差正交判别法UKF的野值自适应性和粒子滤波的“适者生存性”有机地结合起来．通过非线性状态估计 的实验，证实了这种新的自适应粒子滤波对成片野值处理的有效性，-Proposal from the improved value of the distribution of fault tolerance into the film field, put forward an identificatio

重点讨论了改进后的粒子滤波理论在复杂场景下运动物体跟踪问题。-It discusses the theoretical particle filter improved tracking of moving objects in a complex scene.

很好的粒子滤波算法，方法有了很大的改进，而且有部分代码和系统实现-Good particle filter algorithm, a method has been greatly improved, but also part of the code and system implementation