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/50-Pack-Red-Biodegradable-Balloons-12-Thickened-Extra-Strong-Eco-friendly-Latex-Helium-Party-Balloons/