针对常规自适应卡尔曼滤波器存在过渡过程差的问题,基于一个给定的指标切换函数,采用多个基于不同动态噪声协方差矩阵的卡尔曼滤波器和一个常规自适应卡尔曼滤波器共同组成多模型自适应卡尔曼滤波器.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. Aiming at the problem that conventional adaptive Kalman filter has poor transition process, based on a given index switching function, a number of Kalman filters based on different dynamic noise covariance matrices and a conventional adaptive Kalman filter Multi-model adaptive Kalman filter Compared with the conventional adaptive Kalman filter, the multi-model adaptive Kalman filter can greatly improve the transient response while maintaining the performance of the original adaptive filter.