Traditional extend Kalman filtering (EKF) method has some disadvantages in Gaussian noise hypothesis and to linearize nonlinear system, but the PF method can conquer such disadvantages of EKF method.

• 传统扩展卡尔曼滤波(EKF)方法具有高斯噪声假设与非线性系统线性化的缺陷，PF方法可以克服EKF方法的缺点；