Figure 1From: Iterative unbiased FIR state estimation: a review of algorithms Estimation error variance σ 2 for different UFIR structures (Example 2). 1/N corresponds to simple averaging, p = 0 to the ramp filter, p = 1 to the one‐step predictor, and p = −N/2 to the (N/2)‐lag smoother.Back to article page