Figure 1From: Optimal and unbiased FIR filtering in discrete time state space with smoothing and predictive propertiesFIR filtering at a discrete point n. (a) p-step predictive filtering (p > 0), (b) filtering (p = 0), and (c) |p|-lag smoothing filtering (p < 0). Measurement is organized on an interval of N points from m − p to n − p, where m = n − N + 1.Back to article page