This paper proposes a method for finite element (FE) model updating of civil structures. The method is a hybrid global optimization algorithm combining simulated annealing (SA) with the unscented Kalman filter (UKF). The objective function in the optimization problem can be defined in the modal, time, or frequency domains. The algorithm improves the accuracy, convergence rate, and computational cost of the SA algorithm by local improvements of the accepted candidates though the UKF. The proposed methodology is validated using a mathematical function and numerically simulated response data from linear and nonlinear FE models of realistic three-dimensional structures. (C) 2016 Elsevier Ltd. All rights reserved.