A New Estimation Algorithm from Measurements with Multiple-Step Random Delays and Packet Dropouts

Figure 4

Error variances versus $q^1$, when $q^2=0.3,\mathrm{\hspace{0.17em}\hspace{0.17em}}0.5,\mathrm{\hspace{0.17em}\hspace{0.17em}}\text{and}\mathrm{\hspace{0.17em}\hspace{0.17em}}0.7$ and $q^3=0.5$.