Improved Rao-Blackwellized Particle Filter by Particle Swarm Optimization

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td align="left">Algorithm</td><td align="center">RMSE</td><td align="center">Time (S)</td><td align="center">Number of particles</td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td align="left">PF</td><td align="center">0.14298</td><td align="center">19.625</td><td align="center">1000</td></tr><tr><td align="left">RBPF</td><td align="center">0.019902</td><td align="center">16.078</td><td align="center">500</td></tr><tr><td align="left">RBPF-PSO</td><td align="center">0.015079</td><td align="center">2.297</td><td align="center">20</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Performance comparison between PF, RBPF, and RBPF-PSO.

Journal of Applied Mathematics

tab1

Table 1

Table 1: Improved Rao-Blackwellized Particle Filter by Particle Swarm Optimization 