从改进提议分布的成片野值容错能力入手，提出了基于残差正交判别的UPF容错滤波算法，该算

法将残差正交判别法UKF的野值自适应性和粒子滤波的“适者生存性”有机地结合起来．通过非线性状态估计

的实验，证实了这种新的自适应粒子滤波对成片野值处理的有效性，-Proposal from the improved value of the distribution of fault tolerance into the film field, put forward an identification of the UPF-based fault-tolerant orthogonal residual filtering algorithm is orthogonal to the residual value of the wild Discriminant adaptive UKF and particle filter, " survival of the fittest of " organic integration. Nonlinear state estimation through experiments confirmed that this new adaptive particle filter into pieces on the effectiveness of treatment of outliers,