In utilizing a variable-structure multiple-model (VSMM) algorithm for kinematic state estimation. the core step is the model set design. This study aims to refine the existing expected-mode augmentation (EMA) algorithm. a method of model set design. https://www.bekindtopets.com/great-save-Bolso-Wild-Pony-Pequeno-De-Macrame-Beige-hot-value/