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Adaptive augmented cubature Kalman filter/smoother for ECG denoising

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Abstract

Model-based Bayesian approaches have been widely applied in Electrocardiogram (ECG) signal processing, where their performances heavily rely on the accurate selection of model parameters, particularly the state and measurement noise covariance matrices. In this study, we introduce an adaptive augmented cubature Kalman filter/smoother (CKF/CKS) for ECG processing, which updates the noise covariance matrices at each time step to accommodate diverse noise types and input signal-to-noise ratios (SNRs). Additionally, we incorporate the dynamic time warping technique to enhance the filter’s efficiency in the presence of heart rate variability. Furthermore, we propose a method to significantly reduce the computational complexity required for CKF/CKS implementation in ECG processing. The denoising performance of the proposed filter was compared to those of various nonlinear Kalman-based frameworks involving the Extended Kalman filter/smoother (EKF/EKS), the unscented Kalman filter/smoother (UKF/UKS), and the ensemble Kalman filter (EnKF) that was recently proposed for ECG enhancement. In this study, we conducted a comprehensive evaluation and comparison of the performance of various nonlinear Kalman-based frameworks for ECG signal processing, which have been proposed in recent years. Our assessment was carried out on multiple normal ECG segments extracted from different entries in the MIT-BIH Normal Sinus Rhythm Database (NSRDB). This database provides a diverse set of ECG recordings, allowing us to examine the filters’ denoising capabilities across various scenarios. By comparing the performance of these filters on the same dataset, we aimed to provide a thorough analysis and identification of the most effective approach for ECG denoising. Two kinds of noises were introduced to such segments: 1-stationary white Gaussian noise and 2-non-stationary real muscle artifact noise. For evaluation, four comparable measures namely the SNR improvement, PRD, correlation coefficient and MSEWPRD were employed. The findings demonstrated that the suggested algorithm outperforms the EKF/EKS, EnKF/EnKS, UKF/UKS methods in both stationary and nonstationary environments regarding SNR improvement, PRD, correlation coefficient and MSEWPRD metrics.

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The authors declare that no funds, grants, or other support were received during the preparation of this manuscript.

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Authors and Affiliations

  1. Faculty of Biomedical Engineering, Sahand University of Technology, Tabriz, Iran

    Hamed Danandeh Hesar

  2. Department of Electrical and Computer Engineering and Advanced Technologies, Urmia University, Urmia, Iran

    Amin Danandeh Hesar

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  1. Hamed Danandeh Hesar
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Correspondence to Hamed Danandeh Hesar.

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The authors have no conflicts of interest to declare. All co-authors have seen and agree with the contents of the manuscript and there is no financial interest to report. We certify that the submission is original work and is not under review at any other publication.

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This study received no funding and the authors have no conflicts of interest to declare. All co-authors have seen and agree with the contents of the manuscript and there is no financial interest to report. We certify that the submission is original work and is not under review at any other publication. This article does not contain any studies with human participants or animals performed by any of the authors.

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Hesar, H.D., Hesar, A.D. Adaptive augmented cubature Kalman filter/smoother for ECG denoising. Biomed. Eng. Lett. 14, 689–705 (2024). https://doi.org/10.1007/s13534-024-00362-7

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  • DOI: https://doi.org/10.1007/s13534-024-00362-7

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