Unscented Kalman filter with Doppler frequency
含有多普勒频率的无迹卡尔曼滤波

For the disadvantages of extended Kalman filter without Doppler frequency and was nonlinear a new unscented Kalman filter algorithm with Doppler frequency was proposed. The function relationship of the observation vector and the state vector was derived in the new algorithm and it had higher accuracy connected with the idea of the unscented Kalman filter.. Finally, the new algorithm and the old algorithm were simulated and analyzed and the results indicate that the new algorithm is effective and reasonable.