说明：  无损卡尔曼滤波、无迹卡尔曼滤波或者去芳香卡尔曼滤波。是无损变换(UT)和标准Kalman滤波体系的结合
(Lossless Kalman filter, unscented Kalman filter or go aroma Kalman filtering. Is lossless transform (UT), and a combination of standard Kalman filtering system)