Biomedical Engineering Reference
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can outperform DEKF by comparing the performance of tracking estimation value,
NRMSE and prediction overshoot analysis. Moreover, HEKF has more discrimi-
nated degree with comparison to DEKF across any group numbers selected, which
means HEKF has less error than DEKF. Even though the provided method needed
more computational time comparing to the previous method, the experiment
results showed that it improved NRMSE around 24.72 % across the overall pre-
diction time horizon.
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