Abstract: In this paper, aiming at the adverse effects of uncertain parameters, such as Mars atmospheric density uncertainty, on state estimation, a modified multiple model adaptive estimation (MMAE) method using mixture-of-experts framework is proposed. Normalization dimensional processing of different measurement information during entry phase is conducted by the proposed method to overcome the inherent defects such as poor stability and numerical underflow of traditional MMAE method, further improving the state estimation accuracy. The method is also applied to two different navigation scenarios under different Mars entry detection modes. The simulation results show that the proposed method can obtain precise state estimation when there is uncertain disturbance in dynamics system.