说明：  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 measurement equation. The experimental results show that the improved UKF has a better tracking effect on snake-like maneuvering targets than EKF)