Real-Time Nonlinear Characterization of Soft Tissue Mechanical Properties

Figure 4

Estimations of system noise covariance by RAUKF with both standard and modified weighting factors for the case that system noise covariance involves abrupt changes: the estimated system noise covariances are indicated by the red lines and the reference values by the blue lines.

(a) RAUKF with the standard weighting factor

(b) RAUKF with the modified weighting factor