Simulated measurements corresponding to the filtered state distributions for the motivating example. MTU particle filter (a) and standard particle filter with several different assumed lumped measurement variances (b-d). Violet shaded area: Measurement distributions based on empirical quantiles. Solid blue line: Median of simulated measurements. Yellow circles: Measurements.
Krengel et al. BMC Systems Biology 2013 7:8 doi:10.1186/1752-0509-7-8