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.roneverhart.com/BULK-PACK-3-12-Ivory-Dragon-Cloud-Premium-Texture-Fibrous-Paper-Lantern/