Table 1 Parameter settings: abbreviations are SD for standard deviation, and dist. for distribution

Concentration of dist. of sampling θ _t

${\beta }_{{\theta }_q}$

36,500

Concentration of dist. of θ _t transition

${\beta }_{n_{\theta }}$

3,650

SD of dist. of ω_init

${\sigma }_{{\omega }_{\text{init}}}$

15

SD of dist. of sampling ω _t

${\sigma }_{{\omega }_q}$

11

SD of dist. of ω _t transition

${\sigma }_{n_{\omega }}$

1

SD of the approximation of F _t

σ _f

0.2

SD of the observation model of R _t

σ _ω

1

SD of the observation model of r _t

σ _r

2

F _t threshold of beat or noise

thresh.

0.7