“…The model of MG1 and its coupling part is as: where 1 is the size of the state matrix 1 , 1 is the number of measurements, and 1-4 and 1-4 are the variances of the process and measurement noise. Using the parameters indicated in Table I, parameters in (14) can be calculated except the variances. The process noise and measurement noise variances are assumed and calculated as 1 = {10,10,10,10}, 1 = {100,100,10,10}.…”