document: Multiple model adaptive estimation with filter spawning Multiple model adaptive estimation -LRB- MMAE -RRB- with filter spawning is used to detect and estimate partial actuator failures on the VISTA F-16 . The truth model is a full six-degree-of-freedom simulation provided by Calspan and General Dynamics . The design models are chosen as 13-state linearized models , including first order actuator models . Actuator failures are incorporated into the truth model and design model assuming a `` failure to free stream . '' Filter spawning is used to include additional filters with partial actuator failure hypotheses into the MMAE bank . The spawned filters are based on varying degrees of partial failures -LRB- in terms of effectiveness -RRB- associated with the complete-actuaton-failure hypothesis with the highest conditional probability of correctness at the current time . Thus , a blended estimate of the failure effectiveness is found using the filters ' estimates based upon a no-failure hypothesis , a complete actuator failure hypothesis , and the spawned filters ' partial-failure hypotheses . This yields substantial precision in effectiveness estimation , compared with what is possible without spawning additional filters , making partial failure adaptation a viable methodology
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