Bootstrap filtering algorithm is a recursive Bayesian estimation algorithmSince in this algorithm the probability density function of the state to be estimated is approximated by a series of samples, it can be applied to the circumstance of nonlinear system model and observation model ,even non-Gaussion noise .The bootstrap filter is compared with the Extended Kalman Filter(EKF),the simulation results have shown that the performance of the bootstrap filter is better than that of EKF