扩展卡尔曼滤波详细推导: http://wenku.baidu.com/link?url=M4SU1ysz7q-9uZFfrdv_pkdcE1siXViqm9OCJj3PgL6PeedjUr1q9cgEKdi8iG0wDLDbRfXs-Vizmy5eGzc-FFV13ZlzQeZhyQeKhkFBkn_ 扩展卡尔曼滤波原理: http://blog.csdn.net/baimafujinji/article/details/50570976 卡尔曼与扩展卡尔曼通俗解释: http://www.cnblogs.com/ymxiansen/p/5368547.html