“…Genetic algorithm (Katsikas et al , 2001; Lorenz, et al , 2015) and multiple model adaptive Kalman filter (MMAKF) are applied in optimizing Kalman filtering to obtain the optimum Q and R (Meng et al , 2016). With the further development of intelligent optimization algorithms, optimization algorithms, such as particle swarm optimization (PSO) algorithm, monarch butterfly optimization algorithm and fruit-fly optimization algorithm (Chen et al , 2013; Chen, et al , 2017; Zhang, et al , 2016), have been created in recent years. In these intelligent optimization algorithms, the mean square error (MSE) between the posteriori estimate values and the real values is defined as fitness function (Zhang, et al , 2016).…”