针对传统扩展卡尔曼滤波不合多普勒频率和非线性的缺陷,提出一种新的含有多普勒频率的无迹卡尔曼滤波算法.新算法通过推导观测向量与状态向量之间的函数关系,结合无迹卡尔曼滤波思想,使得滤波精度有了明显提高.最后对新老算法进行了仿真对比分析,结果表明,由于新算法在滤波过程中不需要计算系统的雅克比矩阵并且加入了多普勒频率,较传统扩展卡尔曼滤波算法具有更高的精度和良好的跟踪性能.%For the disadvantages of the traditional extended Kalman filter without Doppler frequency and was nonlinear, this paper proposed a new unscented Kalman filter algorithm with Doppler frequency. The function relationship of the observation vector and the state vector was derived in the new algorithm and had higher accuracy connected with the idea of the unscented Kalman filter. Finally,simulated and analyzed the new algorithm and the old algorithm. The results indicate that the new algorithm has higher accuracy and better tracking performance compared with the traditional extended Kalman filter algorithm because that the new algorithm don't need to calculate the system Jacobian matrix and has Doppler frequency.
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