Covariance inflation and localisation are two important techniques that are used to improve the performance of the ensemble Kalman filter (EnKF) by (in effect) adjusting the sample covariances of the estimates in the state space. In this work. an additional auxiliary technique. called residual nudging. https://www.ashleyshomestores.shop/product-category/power-reclining-sofa-with-adjustable-headrest/