Simulation results shows that the residual of each filter in IMM is still Gaussian distribution, but its mean is not zero if the dominating filter cannot match the real target model.

• 仿真结果表明，IMM中各子滤波器滤波残差基本服从正态分布，但其均值随滤波模型与系统实际运动模式匹配程度变化而变化，即二者匹配时，滤波结果无偏； 不匹配时，滤波结果有偏。