92
5 Higher Order Moment Robust Filtering …
0
10
20
30
40
50
60
70
80
90
100
0.5
1
1.5
2
2.5
3
3.5
t/s
mode
mode
Fig. 5.3 The jumping mode r t
0
10
20
30
40
50
60
70
80
90
100
−0.1
−0.05
0
0.05
0.1
0.15
0.2
0.25
60
70
80
90
100
−5
0
5
10
x 10
−3
t/s
e
e
p1
e
p2
e
p3
Fig. 5.4 Estimation errors of different orders