For large errors introduced by nonlinear state - space model in passive locating and tracking problems , various suboptimal recursive filtering algorithms are aralyzed and summarized , such as the extended kalman filtering ( ekf ) , the modified gain extended kalman filtering ( mgekf ) , the second order filtering and the adaptive extended kalman filtering ( aekf ) 摘要針對(duì)被動(dòng)定位跟蹤中狀態(tài)空間模型非線性程度較高所引發(fā)的濾波精度偏低的問(wèn)題,分析和總結(jié)了已有的包括推廣卡爾曼濾波( ekf ) 、修正增益的推廣卡曼濾波( mgekf ) 、二階濾波、自適應(yīng)推廣卡爾受濾波( aekf )等各種次優(yōu)遞推濾波算法的特點(diǎn)。