Numerical examples demonstrate that the proposed method can obviously increase computation efficiency and has higher accuracy in both kinds of integration regions.

数值算例结果表明该法能够明显提高计算效率，在显式积分区域和精细积分区域都有很高的精度。

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Two different Monte Carlo simulations show that the new algorithm cannot only improve state estimation accuracy but also is superior to EKF in estimation performance and computation efficiency.

两个不同的蒙特卡罗仿真表明，通过采用这一新算法引人径向速度测量，不仅可以大大提高状态估计的精度，而且其估计性能和计算效率优于传统的EKF。

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The accuracy, stability, and efficiency of computation are improved in the optimized filters, and they are more convenient for practical application.

优化的滤波格式提高了计算精度和效率，增强了数值稳定性，更易于实施。

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