Theory :
This is an extended version of the zero mean normalized nonlinear Kalman filter (originally published here : Zero mean normalized Kalman filter). In addition to the original this version is having floating levels and 3 coloring modes for signals :
- color change on slope
- color change on outer (floating) levels cross
- color change on middle (floating) level (sort of a “zero line”) cross
Usage :
You can use the color changes as signals