Fig 7. Kalman filtering results using an inaccurate (biased) prior improves with increased uncertainty in prior.

RMS errors were calculated over all nucleotides in our database. Error calculations were carried out in the log domain and the ground truth values were the log reactivities. See Methods for RMS calculation details. The prior used in the KF was biased by adding the offset μ_offset = 3 to the ideal prior mean. As the standard deviation of the prior, σ_m,0, was increased, the filters performance improved, despite the mean offset. On the other hand, when standard deviation was close to 0, the filter is influenced by a narrow, biased prior and produced poor results.