说明：  交互多模型算法是一种用模型集描述系统各个时刻的状态，相对于单模型系统有很大的适应性，其模型集之间的切换是一个马尔科夫过程，按照状态转移概率矩阵进行切换的
(Interacting multiple model algorithm is a model used to describe the system sets the status of each moment, as opposed to a single model system has great flexibility, the model is a set of switching between the Markov process, according to the state transition probability matrix switch of)