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Table 1 Performance comparison with EKF (with thresholding); perfectly known dynamics (\({\sigma _{s}^{2}}=10^{-4},\;{\sigma _{e}^{2}}=10^{-3}\))

From: Dynamic rainfall monitoring using microwave links

Performance metric Algorithm 2 EKF (with thresholding)
rmse (mm) 0.3167 0.3178
mb (mm) 0.0014 0.0023
ρ 0.8973 0.8963