This algorithm adopts the weight control parameter to decide whether the particle enters unscented Kalman filter, thus decreasing filtering computing amount and having the same precision of UPF.

• 该算法采用权值控制参数决定粒子是否进入平淡卡尔曼滤波器，有效降低了滤波计算量，并和UPF算法精度相当。