1What is the main purpose of an Analog-to-Digital Converter (ADC) in a sensor system?
Digital and analog sensor interfacing using ADCs
Easy
A.To convert analog signals into digital values
B.To increase the physical size of a sensor
C.To convert digital values into analog signals
D.To store sensor readings permanently without using memory
Correct Answer: To convert analog signals into digital values
Explanation:
An ADC converts a continuously varying analog sensor signal into a digital value that a processor can use.
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2Which type of sensor output usually requires an ADC before it can be processed by a microcontroller?
Digital and analog sensor interfacing using ADCs
Easy
A.A digital logic output
B.A pulse-count output with automatic calibration and network communication
C.A serial data output
D.An analog voltage output
Correct Answer: An analog voltage output
Explanation:
An analog voltage must be converted into a digital number before a microcontroller can process it.
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3How many different output levels can an 8-bit ADC represent?
Digital and analog sensor interfacing using ADCs
Easy
A.1024 levels with separate values reserved for positive and negative voltages
B.512 levels
C.256 levels
D.128 levels
Correct Answer: 256 levels
Explanation:
An 8-bit ADC represents different digital levels.
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4What does a higher ADC resolution generally provide?
Digital and analog sensor interfacing using ADCs
Easy
A.Lower sensor temperature
B.Automatic removal of every type of measurement error
C.Stronger wireless signals
D.Finer measurement detail
Correct Answer: Finer measurement detail
Explanation:
Higher ADC resolution divides the input range into more levels, allowing smaller signal changes to be detected.
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5Which sensor is used to detect the concentration or presence of gases?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Easy
A.Proximity sensor
B.Humidity sensor with a built-in digital display and alarm
C.Gas sensor
D.Pressure sensor
Correct Answer: Gas sensor
Explanation:
A gas sensor detects the presence or concentration of specific gases in the surrounding environment.
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6What physical quantity is measured by a temperature sensor?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Easy
A.Air pressure
B.Distance to a nearby object using reflected electromagnetic energy
C.Gas concentration
D.Degree of hotness
Correct Answer: Degree of hotness
Explanation:
A temperature sensor measures how hot or cold an object or environment is.
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7What does a humidity sensor commonly measure?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Easy
A.Moisture in the air
B.The combined temperature, pressure, and speed of moving air
C.Distance to an object
D.Force on a surface
Correct Answer: Moisture in the air
Explanation:
A humidity sensor measures the amount of water vapor or moisture present in the air.
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8Which sensor is most suitable for measuring atmospheric pressure?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Easy
A.Proximity sensor
B.Pressure sensor
C.Temperature sensor with an external heating and cooling controller
D.Gas sensor
Correct Answer: Pressure sensor
Explanation:
A pressure sensor converts atmospheric or applied pressure into an electrical signal.
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9What is the main function of a proximity sensor?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Easy
A.To measure air moisture
B.To identify gas concentration
C.To detect nearby objects
D.To calculate atmospheric pressure over a long geographical period
Correct Answer: To detect nearby objects
Explanation:
A proximity sensor detects whether an object is nearby, often without physical contact.
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10Why is signal conditioning sometimes used with an analog sensor?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Easy
A.To replace the sensing element
B.To prepare its signal for measurement
C.To guarantee that the sensor consumes no electrical power during operation
D.To assign an internet address
Correct Answer: To prepare its signal for measurement
Explanation:
Signal conditioning can amplify, filter, or adjust a sensor signal so that it can be measured reliably.
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11Which operating mode helps a sensor node save energy when it is not collecting data?
Low-power sensor operation strategies
Easy
A.Transmit mode
B.Calibration mode
C.Continuous high-speed processing mode with all peripherals enabled
D.Sleep mode
Correct Answer: Sleep mode
Explanation:
Sleep mode disables or reduces unnecessary activity, lowering energy consumption while the sensor node is idle.
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12What is duty cycling in a low-power sensor system?
Low-power sensor operation strategies
Easy
A.Alternating between active and sleep periods
B.Keeping the sensor active at all times
C.Sending every measurement repeatedly through several wireless networks
D.Increasing the ADC reference voltage
Correct Answer: Alternating between active and sleep periods
Explanation:
Duty cycling saves energy by operating the sensor only when needed and sleeping at other times.
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13Which action generally reduces the energy used for wireless sensor communication?
Low-power sensor operation strategies
Easy
A.Transmitting data less often
B.Sending duplicate data packets
C.Increasing transmission distance
D.Keeping the radio active continuously to monitor every available channel
Correct Answer: Transmitting data less often
Explanation:
Wireless transmission often uses significant energy, so reducing its frequency can extend battery life.
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14Why might a sensor take readings only at selected time intervals?
Low-power sensor operation strategies
Easy
A.To reduce power consumption
B.To ensure every environmental change is measured continuously without interruption
C.To change an analog sensor into a digital sensor
D.To increase physical pressure
Correct Answer: To reduce power consumption
Explanation:
Periodic sampling allows the sensor and processor to sleep between readings, which conserves energy.
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15What does a moving average filter primarily do to sensor data?
Data filtering using moving average
Easy
A.Predicts every future reading using a complete physical model of the system
B.Changes analog data into digital data
C.Smooths short-term fluctuations
D.Increases random noise
Correct Answer: Smooths short-term fluctuations
Explanation:
A moving average filter reduces rapid variations by averaging a group of recent sensor readings.
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16What information is used by a simple moving average filter?
Data filtering using moving average
Easy
A.Only the oldest available reading
B.Only the largest available reading
C.A fixed number of recent readings
D.Every reading ever collected from all sensors connected to the network
Correct Answer: A fixed number of recent readings
Explanation:
A simple moving average calculates the mean of a chosen window of recent data values.
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17What is the moving average of the readings , , and ?
Data filtering using moving average
Easy
A.
B., because all three readings are combined without dividing by their count
C.
D.
Correct Answer:
Explanation:
The average is .
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18What is one common effect of increasing the window size of a moving average filter?
Data filtering using moving average
Easy
A.The output becomes smoother
B.The output instantly follows every rapid change without any delay
C.The sensor uses no power
D.The ADC gains more bits
Correct Answer: The output becomes smoother
Explanation:
A larger window averages more readings, producing smoother output but usually responding more slowly to changes.
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19What is the main purpose of a Kalman filter in a sensor system?
Data filtering using Kalman filter
Easy
A.To estimate values from noisy measurements
B.To generate electrical power
C.To permanently store every raw sensor reading in external memory
D.To convert pressure into humidity
Correct Answer: To estimate values from noisy measurements
Explanation:
A Kalman filter combines predictions and measurements to estimate the underlying value more accurately.
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20Which two kinds of information does a Kalman filter commonly combine?
Data filtering using Kalman filter
Easy
A.A complete network map and every historical reading from unrelated sensors
B.A voltage and a battery
C.A prediction and a measurement
D.A password and a username
Correct Answer: A prediction and a measurement
Explanation:
A Kalman filter updates a predicted state using new measurement information.
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21A 10-bit ADC uses a 3.3 V reference. Approximately what digital value is produced when the input voltage is 1.65 V?
Digital and analog sensor interfacing using ADCs
Medium
A.256
B.768
C.512
D.1023
Correct Answer: 512
Explanation:
The ADC value is approximately , which rounds to about 512.
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22A sensor outputs a maximum of 2.0 V, but the microcontroller ADC has a 3.3 V input range. Which design change provides better measurement resolution without exceeding the ADC limit?
Digital and analog sensor interfacing using ADCs
Medium
A.Increase the ADC reference voltage
B.Add a pull-down resistor
C.Use a suitable signal amplifier
D.Reduce the ADC bit count
Correct Answer: Use a suitable signal amplifier
Explanation:
Amplifying the sensor output to use more of the ADC range increases the number of distinguishable voltage levels, provided the amplifier output remains below 3.3 V.
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23An analog sensor has a source resistance of 100 k, while the ADC requires the source impedance to be below 10 k for accurate sampling. What is the most appropriate interface?
Digital and analog sensor interfacing using ADCs
Medium
A.Replace the ADC reference
B.Use a voltage follower
C.Connect the sensor directly
D.Use a larger pull-up resistor
Correct Answer: Use a voltage follower
Explanation:
A voltage follower provides high input impedance to the sensor and low output impedance to drive the ADC sampling circuit.
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24A digital temperature sensor communicates through I2C, while a photoresistor produces a continuously varying voltage. Which statement correctly compares their interfaces?
Digital and analog sensor interfacing using ADCs
Medium
A.Only the I2C sensor requires ADC conversion
B.Only the photoresistor requires ADC conversion
C.Both require ADC conversion
D.Neither sensor can connect to a microcontroller
Correct Answer: Only the photoresistor requires ADC conversion
Explanation:
The I2C sensor sends digital data directly, whereas the photoresistor's analog voltage must be converted by an ADC.
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25An ADC has a 12-bit resolution and a 4.096 V reference. What is the approximate voltage represented by a reading of 2048?
Digital and analog sensor interfacing using ADCs
Medium
A.0.512 V
B.2.048 V
C.1.024 V
D.3.072 V
Correct Answer: 2.048 V
Explanation:
A reading near half of the maximum count represents half of the reference voltage: V.
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26A thermistor is connected in a voltage divider, and its resistance decreases as temperature increases. If the thermistor is placed above the fixed resistor and the output is measured at their junction, what happens to the output voltage as temperature rises?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Medium
A.It remains constant
B.It decreases
C.It increases
D.It becomes digital
Correct Answer: It decreases
Explanation:
As the thermistor resistance decreases, it receives a smaller fraction of the supply voltage in this divider arrangement, so the junction voltage decreases.
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27A capacitive humidity sensor produces a voltage that increases from 0.8 V at 20% relative humidity to 2.8 V at 80% relative humidity. Assuming linear behavior, what humidity corresponds approximately to 1.8 V?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Medium
A.35%
B.60%
C.50%
D.45%
Correct Answer: 50%
Explanation:
The voltage is halfway between 0.8 V and 2.8 V, so the humidity is halfway between 20% and 80%, giving 50% relative humidity.
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28A pressure sensor has an output range of 0.5 V to 4.5 V for pressures from 0 kPa to 100 kPa. What pressure is indicated by an output of 2.5 V?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Medium
A.75 kPa
B.40 kPa
C.25 kPa
D.50 kPa
Correct Answer: 50 kPa
Explanation:
The output is halfway through its 0.5 V to 4.5 V span, so it represents halfway through the pressure range: 50 kPa.
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29Why is a load resistor commonly used with a resistive gas sensor?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Medium
A.To increase the ADC bit depth
B.To form a voltage divider
C.To remove all sensor noise
D.To generate an I2C address
Correct Answer: To form a voltage divider
Explanation:
The sensor resistance and load resistor form a voltage divider, converting changes in gas-dependent resistance into a measurable voltage.
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30An infrared proximity sensor gives false detections when exposed to strong sunlight. Which improvement is most directly relevant?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Medium
A.Lower the ADC resolution
B.Remove the emitter
C.Increase cable length
D.Use optical modulation
Correct Answer: Use optical modulation
Explanation:
Modulating the emitted infrared signal and detecting only that modulation helps distinguish the sensor signal from steady or unrelated ambient light.
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31A pressure sensor output changes slowly, but the ADC readings contain high-frequency electrical noise. Which hardware addition is most suitable before the ADC input?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Medium
A.A low-pass RC filter
B.A crystal oscillator
C.A high-value fuse
D.An LED indicator
Correct Answer: A low-pass RC filter
Explanation:
A low-pass RC filter attenuates rapid voltage variations while preserving the slowly changing pressure signal.
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32A battery-powered humidity monitor only needs one measurement every five minutes. Which strategy usually provides the greatest energy saving?
Low-power sensor operation strategies
Medium
A.Increase the sensor heater duty cycle
B.Wake periodically and power-gate the sensor
C.Sample continuously and discard values
D.Keep the sensor continuously active
Correct Answer: Wake periodically and power-gate the sensor
Explanation:
Turning off the sensor and microcontroller between measurements reduces both active operating time and standby energy consumption.
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33A gas sensor requires a heater to stabilize before measurement. Which low-power strategy best preserves measurement quality?
Low-power sensor operation strategies
Medium
A.Increase the ADC sampling rate
B.Use brief heater warm-up cycles
C.Disable heating permanently
D.Sample during power-up only
Correct Answer: Use brief heater warm-up cycles
Explanation:
Short controlled warm-up periods allow the heater to reach a suitable operating condition while avoiding the energy cost of continuous heating.
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34A sensor node transmits readings over a wireless link. Which change generally reduces energy use without reducing the local sensor accuracy?
Low-power sensor operation strategies
Medium
A.Transmit every raw sample
B.Batch readings before transmission
C.Use a faster clock continuously
D.Increase radio transmit power
Correct Answer: Batch readings before transmission
Explanation:
Combining several readings into fewer communication events reduces the energy spent starting and operating the radio.
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35A microcontroller has active current of 12 mA for 2 seconds and sleep current of 0.02 mA for 58 seconds in each one-minute cycle. What is its approximate average current?
Low-power sensor operation strategies
Medium
A.0.42 mA
B.6.01 mA
C.1.20 mA
D.0.20 mA
Correct Answer: 0.42 mA
Explanation:
The average is mA.
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36A three-sample moving average receives the values 10, 13, and 17. What output does it produce?
Data filtering using moving average
Medium
A.13.0
B.14.0
C.12.3
D.13.3
Correct Answer: 13.3
Explanation:
The moving average is , approximately 13.3.
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37Increasing the window size of a moving average filter generally has which effect?
Data filtering using moving average
Medium
A.More noise and less memory
B.Less smoothing and less delay
C.More smoothing and more delay
D.No change in response time
Correct Answer: More smoothing and more delay
Explanation:
A larger window averages more samples, reducing random noise but making the output respond more slowly to changes.
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38A moving average filter is applied to a sensor signal that contains a sudden step change. What is the primary consequence near the step?
Data filtering using moving average
Medium
A.The step appears immediately
B.The step amplitude always doubles
C.The step is converted to a sine wave
D.The step is delayed and spread
Correct Answer: The step is delayed and spread
Explanation:
Each output includes recent older samples, so a moving average transitions gradually instead of following the step instantly.
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39A Kalman filter receives a noisy measurement but has high confidence in its prediction from the system model. How will the updated estimate usually change?
Data filtering using Kalman filter
Medium
A.It will ignore the system model later
B.It will follow the measurement closely
C.It will remain closer to the prediction
D.It will become exactly zero
Correct Answer: It will remain closer to the prediction
Explanation:
When predicted uncertainty is relatively low or measurement noise is high, the Kalman gain is smaller and the estimate relies more on the prediction.
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40In a one-dimensional Kalman filter, the predicted state is 20, the measurement is 24, and the Kalman gain is 0.25. What is the updated estimate?
Data filtering using Kalman filter
Medium
A.21.00
B.20.25
C.22.00
D.23.00
Correct Answer: 21.00
Explanation:
The update is .
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41A 12-bit ADC has a 20 pF sample-and-hold capacitor and a 2 s acquisition interval. Assuming a full-scale input step, what is the largest total source resistance that keeps settling error below 0.5 LSB?
Digital and analog sensor interfacing using ADCs
Hard
A.Approximately
B.Approximately
C.Approximately
D.Approximately
Correct Answer: Approximately
Explanation:
Settling requires . Thus, .
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42A resistive bridge is excited from a supply that varies by . Its output is digitized by an ADC. Which design best suppresses supply variation without separately measuring the excitation voltage?
Digital and analog sensor interfacing using ADCs
Hard
A.Use the bridge excitation as the ADC reference
B.Use a fixed reference and increase ADC resolution
C.Calibrate the bridge once at nominal excitation
D.Add a high-pass filter before the ADC input
Correct Answer: Use the bridge excitation as the ADC reference
Explanation:
This creates a ratiometric measurement: both sensor output and ADC full scale vary with excitation, so their ratio remains nearly constant.
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43A multiplexed ADC alternates between a low-impedance 3.0 V channel and a high-impedance 0.2 V channel. The latter consistently reads too high. Which modification most directly addresses the error?
Digital and analog sensor interfacing using ADCs
Hard
A.Apply a moving average across both ADC channels
B.Increase the high-impedance sensor's series resistance
C.Discard an initial conversion after switching channels
D.Reduce the ADC reference voltage by one-half
Correct Answer: Discard an initial conversion after switching channels
Explanation:
Residual charge on the sample capacitor can contaminate the high-impedance channel. A dummy conversion provides additional acquisition time after multiplexing.
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44A 10-bit ADC samples a constant sensor output containing sufficient uncorrelated noise to randomize its quantization error. How many samples must be averaged to obtain approximately 12-bit effective resolution?
Digital and analog sensor interfacing using ADCs
Hard
A.32 samples
B.4 samples
C.16 samples
D.8 samples
Correct Answer: 16 samples
Explanation:
Each additional effective bit requires four times as many samples. A two-bit improvement therefore requires samples.
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45A metal-oxide gas sensor heater is PWM-driven and causes periodic offsets in the sensor's millivolt-level output. Which acquisition strategy best limits this interference?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Hard
A.Connect heater and amplifier grounds through one thin trace
B.Increase PWM frequency and sample at arbitrary phase
C.Average samples collected only during PWM switching edges
D.Use separate returns and sample during a settled PWM-quiet interval
Correct Answer: Use separate returns and sample during a settled PWM-quiet interval
Explanation:
Separate current returns reduce common-impedance coupling, while synchronous sampling during a quiet, settled interval avoids heater-switching transients.
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46An NTC thermistor forms a divider with a fixed resistor and is read by an ideal ADC. At the nominal operating temperature, which fixed resistance maximizes sensitivity to fractional thermistor-resistance changes?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Hard
A.Equal to the nominal thermistor resistance
B.One-quarter of the nominal thermistor resistance
C.One-half of the nominal thermistor resistance
D.Twice the nominal thermistor resistance
Correct Answer: Equal to the nominal thermistor resistance
Explanation:
For , sensitivity to is maximized when , placing the divider near midscale.
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47A capacitive humidity sensor exhibits electrode polarization and long-term drift when measured using a constant DC voltage. Which interface is most appropriate?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Hard
A.A bipolar AC excitation with synchronous capacitance measurement
B.A larger DC bias followed by a low-pass voltage filter
C.A resistive divider driven continuously from the ADC reference
D.A constant-current source followed by a peak detector
Correct Answer: A bipolar AC excitation with synchronous capacitance measurement
Explanation:
Alternating excitation prevents net DC electrochemical polarization while synchronous measurement extracts the capacitance-dependent response.
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48A 4–20 mA pressure transmitter uses a 24 V loop, requires at least 10 V across itself, and has 200 total cable resistance. The ADC input range is 0–3.3 V. What is the largest standard sense resistance allowed by both ADC range and loop compliance at 20 mA?
Analog sensor interfacing, including gas, temperature, humidity, pressure, and proximity sensors
Hard
A.
B.
C.
D.
Correct Answer:
Explanation:
The ADC limit gives . Compliance alone allows , so the ADC constraint dominates.
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49A node repeats a 10 s cycle: sensing and processing draw 40 mA for 120 ms, transmission draws 25 mA for 20 ms, and sleep draws 20 A for the remaining time. What is its average current?
Low-power sensor operation strategies
Hard
A.Approximately
B.Approximately
C.Approximately
D.Approximately
Correct Answer: Approximately
Explanation:
The charge per cycle is mA·s. Dividing by 10 s gives mA.
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50A radio wake-up costs 5 mJ, each transmitted sample costs 0.2 mJ, and buffering a sample costs 0.1 mJ. For 10 samples, how much energy is saved by one batched transmission rather than 10 individual transmissions?
Low-power sensor operation strategies
Hard
A.34 mJ
B.44 mJ
C.39 mJ
D.49 mJ
Correct Answer: 44 mJ
Explanation:
Individual transmissions use mJ. Batching uses mJ, saving 44 mJ.
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51An adaptive sampler reduces its rate when recent measurements vary slowly. Which addition best prevents it from indefinitely missing a short event that occurs between widely spaced samples?
Low-power sensor operation strategies
Hard
A.A maximum sampling interval or low-power event detector
B.A fixed threshold based only on the previous sample
C.A lower ADC reference during low-variation periods
D.A larger averaging window before reducing the rate
Correct Answer: A maximum sampling interval or low-power event detector
Explanation:
A bounded interval guarantees periodic observation, while an event detector can asynchronously wake the system when a brief event occurs.
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52A sensor is power-gated, but its current consumption remains unexpectedly high because an active MCU GPIO is connected to the sensor's data pin. What is the most likely cause and remedy?
Low-power sensor operation strategies
Hard
A.Sensor aliasing current; increase the digital sampling frequency
B.Back-powering through protection diodes; tri-state or isolate the GPIO
C.Ground-loop current; connect the data pin directly to the battery
D.ADC quantization current; reduce the ADC sampling resolution
Correct Answer: Back-powering through protection diodes; tri-state or isolate the GPIO
Explanation:
A driven data pin can feed the unpowered sensor through its input protection diode. High-impedance GPIO configuration or signal isolation prevents this path.
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53A five-sample moving average processes data sampled at 100 Hz. Assuming ideal sampling, what happens to a sinusoidal interference component at exactly 20 Hz?
Data filtering using moving average
Hard
A.It is ideally canceled by the filter
B.It is shifted to a frequency of 10 Hz
C.It is attenuated by approximately 3 dB
D.It passes with unchanged steady-state amplitude
Correct Answer: It is ideally canceled by the filter
Explanation:
A length- moving average has zeros at . For and Hz, the first zero is at 20 Hz.
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54A centered interpretation is applied to a nine-sample causal moving average sampled at 50 Hz. By how much should each output timestamp be shifted backward to align it with the center of its data window?
Data filtering using moving average
Hard
A.80 ms
B.160 ms
C.40 ms
D.90 ms
Correct Answer: 80 ms
Explanation:
The group delay is samples. At 50 Hz, each sample is 20 ms, so the delay is ms.
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55Which update correctly implements an exact length- moving average in constant time per sample, assuming stores the current window sum?
Data filtering using moving average
Hard
A. and
B. and
C. and
D. and
Correct Answer: and
Explanation:
The new sample is added and the sample leaving the window is removed. The accumulator must also be wide enough to avoid overflow.
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56A stationary noise process has variance and autocorrelation with . What is the output variance of a four-sample moving average?
Data filtering using moving average
Hard
A.
B.
C.
D.
Correct Answer:
Explanation:
The variance is . With , this equals .
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57A scalar Kalman filter has prior estimate , prior variance , measurement , and measurement-noise variance . What are the posterior estimate and variance?
Data filtering using Kalman filter
Hard
A. and
B. and
C. and
D. and
Correct Answer: and
Explanation:
The gain is . Thus and .
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58In a scalar random-walk Kalman filter, the assumed process-noise variance is increased while measurement-noise variance remains fixed. What is the principal steady-state effect?
Data filtering using Kalman filter
Hard
A.The gain increases and estimates track measurements faster
B.The gain oscillates in sign and estimates become phase-inverted
C.The gain decreases and estimates reject measurements more strongly
D.The gain becomes zero and covariance remains at its initial value
Correct Answer: The gain increases and estimates track measurements faster
Explanation:
Larger increases predicted uncertainty, producing a larger Kalman gain. The filter responds faster but admits more measurement noise.
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59For a one-dimensional constant-velocity state driven by continuous white acceleration with spectral density , which process-noise covariance is correct for a sampling interval ?
Data filtering using Kalman filter
Hard
A.
B.
C.
D.
Correct Answer:
Explanation:
Integrating continuous white acceleration over yields position variance proportional to , cross-covariance to , and velocity variance to .
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60A Kalman filter uses innovation gating and rejects a measurement because its normalized innovation squared exceeds the threshold. Under a standard rejection policy, what should happen during that update?
Data filtering using Kalman filter
Hard
A.Retain the predicted state and reset covariance to zero
B.Apply the measurement but force the gain to one
C.Replace the state with the measurement and retain covariance
D.Retain the predicted state and predicted covariance
Correct Answer: Retain the predicted state and predicted covariance
Explanation:
A rejected observation contributes no measurement update. The posterior therefore remains equal to the prediction unless a separate recovery policy is explicitly used.
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