中文摘要：

为了研究卡尔曼滤波算法在非线性系统中的定位预测效果,对扩展卡尔曼滤波算法和无迹卡尔曼滤波算法的应用结果做了分析对比,并且根据机器人的受力情况,在滤波算法中引入修正因子,对状态估计方程进行改进.仿真实验表明：无迹卡尔曼滤波算法在非线性系统中的定位效果优于扩展卡尔曼滤波算法;修正因子对两种算法都具有改进效果,提高了定位精度.

英文摘要：

In order to study the location prediction effect of Kalman filter algorithm in nonlinear system,the application re-sults of the extended Kalman filter algorithm and the unscented Kalman filter algorithm are analyzed and compared and according to the force condition of the mobile robot,the modificatory factor is introduced into the localization algorithm to improve the state esti-mation equation. The simulation results show that the location prediction effect of the unscented Kalman filter algorithm is better than that of extended Calman filter algorithm in nonlinear system and the modificatory factor produces an improvement effect on both algorithms.