说明：  这是目前卡尔曼滤波的最新发展形式。容积卡尔曼滤波提升了卡尔轻的滤波性能，希望能对研究非性线估计的朋友有所帮助。
(This is the latest development in the form of the Kalman filter. The volume of the Kalman filter to enhance the Carl' s light filtering performance, hoping to help a friend of non-sexual line is estimated.)