边缘粒子滤波（MPF）将状态方程中线性部分和非线性部分分别用卡尔曼滤波和粒子滤波进行估计，可以提高跟踪的精度，所以将其引入到PF-PHD滤波中，将二者接合起来，以提高PF-PHD滤波的跟踪精度。MPF-PHD滤波可以很好的提高跟踪的精度，抗干扰能力强，具有良好的鲁棒性。-Because of that MPF use KLAM and PSO to evaluate,which can achieve higher accurty.combing MPF and PF-PHD can achie

状态卡方检验法主要是通过卡尔曼滤波器的状态来估计系统是否故障。，该程序是GPS/INS的组合。-Status chi-square test method is mainly through state Kalman filter to estimate the system malfunctions. The program is a combination of GPS/INS' s.