Algorithm 3 Data Reconstruction Algorithm Based on Kalman Filtering and Data Trend

Input:  sensor reading $z_k$, data trends $d_k$, data cache $cachedval$   1:while True do   2:    if sensor reading $z_k$ is not None then   3:        Insert $z_k$ into $cachedval$   4:        Calculate $d_k$   5:    else   6:        Call the Kalman filter to calculate estimated value $x_k$   7:        if |$e_k$| > $e_{max}$ then   8:           $z_k$ = $z_{k-1}$ + $d_k$   9:        else 10:           $z_k$ = $x_k$