As the measure noise has much effect on estimate precision and convergence speed, when noise increases abruptly, the position estimation converges slowly and the precision becomes poor.

• 由于观测噪声对估计精度和算法收敛速度有较大影响,当观测噪声突然增大时,UKF方法在位置估计时收敛变慢,而且精度变差。