We compare a couple of typical filtering methods with uncertainty observations based on Kalman filter frame in this paper. Moreover,we also compare their mathematical models and algorithms implementation,and apply them in target tracking in WSN.Simulation results show that the filtering methods with uncertainty observations in different models have different filtering effects,the multi-step packet dropouts model has superior tracking performance when applied to mobile target tracking in WSN.%比较几种具有代表性的基于卡尔曼滤波框架的带有不确定观测的滤波算法。比较它们的数学模型和算法实现，并将它们应用于无线传感器网络目标跟踪。仿真结果显示不同模型下的不确定观测滤波方法滤波效果不同，多步丢包模型在无线传感器网络中应用于移动目标跟踪具有优越的跟踪性能。
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