With the nonlinear and non-gaussian features

moving-base tranfer alignment is hard to achieve ideal filter precision with EKF

which is based on partial linearization and gaussian hypothesis.SSUPF is a unscented particle filter based on SSUT which decreases the sigma points and thus cuts down the calculation in high dimensional system with the hyperspherically distributed sigma points.The filter algorithm creates importance probability density function through SSUKF

and the newest observation data is introduced to better approximate the posterior probability of the system state.The simulation result indicates that campared with EKF and UKF

SSUPF enhances the filter precision to the degree similar with the standard UPF

and acquires the calculating efficiency higher than UPF.