Table 4
Estimated measurement noise and process noise as well as measurement model for the EKF
Parameter
Value
Description
R
0.0225 g
2
L
À2
Measurement noise variance
Q
0:001 g
2
L
2
h
À1
0
0
0
0
0
0
:001 g
2
L
2
h
À1
0
0
0
0
0
0
:001 g
2
L
À2
h
À1
0
0
0
0
0
0
:005 h
À3
0
0
0
0
0
0
:005 h
À3
0
B
B
B
B
B
B
@
1
C
C
C
C
C
C
A
Process noise covariance matrix
z
(0 0 1 0 0)
Measurement matrix (just ethanol is measured)
The Kalman Filter for the Supervision of Cultivation Processes
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