Fig. 6.
Internal estimates of tilt components resulting from various Kalman gain manipulations. A: normal Kalman filter with the Kalman gains in Fig. 3. B: translation estimate is forced to 0 (cyan horizontal line) while keeping other Kalman gains the same as in A. Internal estimate of GIF is nearly perfect. C: the Kalman gain gating the canal’s error signal to GIF estimate is forced to 0. Compared with the small underestimation of ĝy resulting from such manipulation, overestimation of ây is marked by great magnitude. D: the Kalman gain modulating the otolith’s contribution to ĝy is forced to zero. In this case, the tilt signal is completely determined by the canal’s rotation signal that is integrated over time to yield rotational displacement.