“…Yang et al [27] introduced the fading memory matrix into UKF to improve the identification of nonlinear modeling errors, and Xia et al [25] replaced the original Cholesky decomposition with singular value decomposition (SVD) while introducing the fading memory matrix, which effectively avoided the collapse of UKF, and Xia et al [25] and Yang et al [27] both computed errors for validation and achieved better results, but the aquaculture region has strong noise interference, the measured data deviation is large, and the quality of the underlying data directly affects the subsequent fusion effect. This article introduces the MP estimate to effectively suppress the field noise and establish the MP estimate of the noise statistics, used to adjust the system noise statistics, effectively avoiding the noise too strong to cause the UKF calculation dispersion, while combined with [49], it can be known LU matrix decomposition that has the advantages of robustness, high accuracy, decomposition speed, and simple operation.…”