Exploring the Exponentially Decaying Merit of an Out-of-Sequence Observation

. 2018 Jun 15;18(6):1947. doi: 10.3390/s18061947

Algorithm 2 A selective filter uses an existing out-of-sequence filter to incorporate observations that are newer than a fixed threshold.

field $T_{d}$

field $o o s F i l t e r$

field $l a s t E s t T i m e$

function init( $T_{d}$ ):

$f i e l d . T_{d}$ = $T_{d}$

end

function update( $t i m e$ , $o b s e r v a t i o n$ ):

if $t i m e - l a s t E s t T i m e < T_{d}$ :

$o o s F i l t e r$ .update( $t i m e$ , $o b s e r v a t i o n$ )

$l a s t E s t T i m e$ = $t i m e$

end