Real-Time Nonlinear Characterization of Soft Tissue Mechanical Properties

Figure 8

Measurement noise covariance estimations by RAUKF via both standard and modified weighting factors for the case that measurement noise covariance involves abrupt changes: the estimated measurement noise covariances are indicated by the blues lines and the reference values by the red lines.

(a) RAUKF with the standard weighting factor

(b) RAUKF with the modified weighting factor