Compared with a conventional AKF, the MMAKF could improve the transient response greatly without losing the characteristic of the conventional AKF.

• 与常规自适应卡尔曼滤波器相比，多模型自适应卡尔曼滤波器可以在保持原有自适应滤波器性能的基础上极大地改善瞬态响应。