MGEKF and other nonlinear filters are belong to EKF in essence, while the EKF-like algorithms share the disadvantage of linearization reduce to the unstability of filters.

• MGEKF等非线性滤波方法本质上都属于扩展卡尔曼滤波算法，都存在由于线性化误差而导致滤波器稳定性差等问题。