适合初学者关于单机动目标CA,CV,Singer模型对比追踪效果，并配有讲解(For beginners, CA, CV and Singer models for single maneuvering target are compared and explained.)

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