“…Therefore, the UKF is a nonlinear filter with high precision, strong stability and small computational burden, which is suitable for estimating parameters and states of high-speed objects. In recent years, the UKF has been widely used in estimation of states and parameters [12][13][14], control [15], target tracking [16,17], navigation [18,19], map building [20,21] and fault diagnosis [22]. At the same time, many scholars have tried to improve the UKF in terms of its nu-merical stability and computational speed, e.g., a decrease sigma points UKF [23] and square root decomposition of the UKF [24,25].…”