Respiratory Motion Estimation with Hybrid Implementation - Prediction and Classification of Respiratory Motion - page 71

Fig. 4.3 Decoupled extended Kalman filter (DEKF) for RNN. Each group is corresponding to
mutually exclusive weight group. The concatenation of the filtered weight vector ˆ i (k|k) forms
the overall filtered weight vector ˆ (k|k)

0.5

0.4

DEKF
Measurement
Upper Bound
Lower Bound

0.3

0.2

0.1

Overshoot

0

-0.1

-0.2

-0.3

-0.4

-0.5

2.8574 2.8575 2.8576 2.8577 2.8578 2.8579 2.858 2.8581 2.8582 2.8583

x 10 4 Data Time Index (Second)

Fig. 4.4 Prediction overshoots with DEKF