无迹kalman滤波

这个关于怎么实现UKF的代码，关于实现步骤及实现过程可看我的博客： https://blog.csdn.net/caokaifa/article/details/83041371

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%  无迹Kalman滤波在目标跟踪中的应用
%  详细原理介绍及中文注释请参考：
%  《卡尔曼滤波原理及应用-MATLAB仿真》，电子工业出版社，黄小平著。
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function UKF
clc;clear;
T=1; 
N=60/T; 
X=zeros（4N）; 
X（:1）=[-100220020]; 
Z=zeros（1N）; 
delta_w=1e-3; 
Q=delta_w*diag（[0.51]） ;
G=[T^2/20;T0;0T^2/2;0T];
R=5; 
F=[1T00;0100;001T;0001];
x0=200; 
y0=300;
Xstation=[x0y0]; 
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w=sqrtm（R）*randn（1N）;
for t=2:N
    X（:t）=F*X（:t-1）+G*sqrtm（Q）*randn（21）;
end
for t=1:N
    Z（t）=Dist（X（:t）Xstation）+w（t）;
end
L=4;
alpha=1;
kalpha=0;
belta=2;
ramda=alpha^2*（L+kalpha）-L;
for j=1:2*L+1
    Wm（j）=1/（2*（L+ramda））;
    Wc（j）=1/（2*（L+ramda））;
end
Wm（1）=ramda/（L+ramda）;
Wc（1）=ramda/（L+ramda）+1-alpha^2+belta;
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Xukf=zeros（4N）;
Xukf（:1）=X（:1）;
P0=eye（4）;
for t=2:N
    xestimate= Xukf（:t-1）;
    P=P0;
    cho=（chol（P*（L+ramda）））‘;
    for k=1:L
        xgamaP1（:k）=xestimate+cho（:k）;
        xgamaP2（:k）=xestimate-cho（:k）;
    end
    Xsigma=[xestimatexgamaP1xgamaP2];
    Xsigmapre=F*Xsigma;
    Xpred=zeros（41）;
    for k=1:2*L+1
        Xpred=Xpred+Wm（k）*Xsigmapre（:k）;
    end
    Ppred=zeros（44）;
    for k=1:2*L+1
        Ppred=Ppred+Wc（k）*（Xsigmapre（:k）-Xpred）*（Xs