jgg     2008 28 (3):  87-91    ISSN: 0412-1961  CN: 21-1139/TG PARTICLE FILTER BASED ON ADAPTIVE UNSCENTED KALMAN FILTER Nie Jianliang School of Geological and Surveying Engineering, Chang’an University, Xi’an 710054 Received: 1900-01-01  Revised: 1900-01-01  Online: null Supporting info null