Simulation results demonstrate that the MMAPF algorithm improves filtering accuracy, and has satisfied stability compared with IMM-EKF and APF algorithm.

• 仿真结果表明，该算法与传统的交互多模型-扩展卡尔曼滤波算法、辅助粒子滤波算法相比，在计算量相当的情况下，具有更高的滤波精度和较好的稳定性。