说明：  无损卡尔曼滤波又称无迹卡尔曼滤波（Unscented Kalman Filter，UKF），是无损变换（Unscented Transform，UT）与标准卡尔曼滤波体系的结合，通过无损变换变换使非线性系统方程适用于线性假设下的标准卡尔曼体系。
(Lossless Kalman filter, also known as unscented Kalman filter (UKF), is a combination of unscented transform (UT) and standard Kalman filter system. Through the lossless transform, the nonlinear system equation is suitable for the standard Kalman system under the linear assumption.)