中文摘要：

Jin Feng was born in Hebei, China, in 1985. He received his B.Sc. degree in mathematics and applied mathematics, from College of Sciences in Harbin Engineering University, Harbin, China, in 2007. Currently he is a postgraduate student pursuing a Ph.D. degree in College of Automation in Harbin Engineering University. His research interests include system modeling and robust estimation and control. E-mail： fengjin_201@hotmail.com Corresponding author.Fei Yu was born in 1974. He received his Ph.D. degree in precision instruments and mechanology from College of Automation, Harbin Engineering University, Harbin, China, in 2005. From 2005 to 2008, he was with the Harbin Institute of Technol- ogy as a postdoctoral fellow. He is now with Harbin Engineering University as professor of College of Automation. His research interests include system modeling and nonlinear filter design, E-mail： yufei@hrbeu.edu.cn Na Yang received her B.Sc. degree in mathematics and applied mathematics from School of Mathematical Sciences in Harbin Normal University, Harbin, China, in 2008. Currently she is pursuing an M.Sc. degree in College of Sciences in Harbin Engineering University, Harbin, China. Her research interests include system modeling and robust estimation and control. E-mail： yangna514@ 163.com Pengyu Zhang received his B.Sc. degree in information and computing sciences from College of Sciences in Harbin Engineering University, Harbin, China, in 2009. Currently he is pursuing an M.Sc. degree in College of Science in Harbin Engineering University, His research interests include system modeling and robust estimation and control. E-mail： zpy133@ 163.com Wei Gao was born in 1977. He received his Ph.D. degree in navigation from Harbin Engineering University, Harbin, China, in 2008. From 2004 to 2007, he was with Harbin Institute of Technology as a postdoctoral fellow. He is now with Harbin Engineering University as an assistant professor of College of Automation. His research interests include information fusion, nonlinear