Fig. 1

Unscented transformation. (A) Initial data where blue corresponds to sampling points from a normal distribution of the \(V,n\) state-space and the red circles are the sigma points. Black corresponds to the true uncertainty and mean of the sampled distribution. Magenta corresponds to the statistics of the sigma points. (B) Illustrates the forward operator \(f(x)\) acting on each element of the left panel where \(f(x)\) is the numerical integration of the Morris–Lecar equations (42)–(46) between observation times