中文说明：一种基于运动模型的扩展卡尔曼滤波（EKF）算法，该方法适用于任何能用状态空间模型表示的非线性系统，精度可以逼近最优估计.
English Description：
An extended Kalman filter (EKF) algorithm based on motion model is proposed. This method is suitable for any nonlinear system that can be represented by state space model, and its accuracy can approach the optimal estimation