Abstract: Unscented Particle Filter as the typical improvement Particle Filter Algorithm effectively rises to the filter accuracy.But the old data once influences greatly lead to the filter's exhalement, this passage learn from Memory Attenuation UKF a thought of calculate way and pass to usher in a attenuation factor realization to current measurement data make use of strengthen, and let up a history data to filter result of influence, proposed a kind of particle filter algorithm based on Memory Attenuation UKF.The simulation experiment results show that the proposed algorithm can provide a better tack accuracy than tradition Unscented Particle Filter algorithm.