In Vivo Identification of Skeletal Muscle Dynamics with Nonlinear Kalman Filter: Comparison between EKF and SPKF

Table 1

The covariance matrix initialization.

	Initial covariance matrix (geometric)
	𝐏𝐱=diag([10.10.1111010^−2])
	𝐐𝐯=diag([2.50.10.12.52.51010^−3]×10^−4)
	𝐑𝐧=2.5×10^−3
	Initial covariance matrix for (dynamic)
	𝐏𝐱=diag([10.10.1111010^−410])
	𝐐𝐯=diag([2.50.10.12.52.51010^−510^−3]×10^−4)
	𝐑𝐧=2.5×10^−3