中文说明：无迹粒子滤波（UPF）等用于目标跟踪或者其他非线性系统中的滤波算法，本人可以提供帮助和指导。如果合适也可以帮助编写matlab程序。欢迎交流！以下是一个粒子滤波的入门学习程序，应用于纯方位目标角度观测跟踪，希望对大家有用。
English Description：
Unscented particle filter (UPF) for target tracking and other systems or other nonlinear filtering algorithm, I can provide help and guidance. If appropriate write matlab program can also help. Welcome to AC! The following is an entry-learning program particle filter applied pure azimuth angle observation target tracking, I hope useful.