Recently, convolutional neural network (CNN)based channel estimation (CE) for massive multiple-input multiple-output communication systems has achieved remarkable success. However, complexity even needs to be reduced, and robustness can even be improved. Meanwhile, existing methods do not accurately explain which channel features help the denoising of CNNs. In this paper, we first compare the strengths and weaknesses of CNN-based CE in different domains. When complexity is limited, the channel sparsity in the angle-delay domain improves denoising and robustness whereas large noise power and pilot contamination are handled well in the spatialfrequency domain. Thus, we develop a novel network, called dual CNN, to exploit the advantages in the two domains. Furthermore, we introduce an extra neural network, called HyperNet, which learns to detect scenario changes from the same input as the dual CNN. HyperNet updates several parameters adaptively and combines the existing dual CNNs to improve robustness. Experimental results show improved estimation performance for the time-varying scenarios. To further exploit the correlation in the time domain, a recurrent neural network framework is developed, and training strategies are provided to ensure robustness to the changing of temporal correlation. This design improves channel estimation performance but its complexity is still low.