The results show that the UPF not only solves the linearized loss problem in the extended Kalman filter, but also is more accurate than the PF in the BOT.

• 仿真结果表明，对于纯方位跟踪问题，UPF不仅解决了扩展卡尔曼滤波器的线性化损失难题，而且与PF等粒子滤波器相比，具有更高的跟踪精度。