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A novel highly selective six-pole elliptic filter based on a substrate integrated waveguide (SIW) is proposed for the first time. The filter is composed of two planar SIW extend doublets. The modular design approach based on cascading small building blocks is adopted to reduce the effect of manufacturing tolerance on the performance of the filter. The proposed filter can produce four finite transmission zeros, and has an excellent stopband rejection characteristic. Measured results are presented and compared with results simulated by a high frequency structure simulator. Good agreement between simulated and measured results is observed.