The advances of unscented Kalman filter (UKF) are firstly reviewed.The combination of the Kalman linear filtering with the unscented transformation (UT) is discussed in general sense.

• 摘要回顾了UKF算法的发展，从一般意义讨论了UT变换算法和采样策略的选择依据，并给出了UKF算法描述。