Improved Rao-Blackwellized Particle Filter by Particle Swarm Optimization

<table class="table-group" id="tab2"><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">0.11154</td><td align="center">20.156</td><td align="center">1000</td></tr><tr><td align="left">RBPF</td><td align="center">0.23974</td><td align="center">16.766</td><td align="center">200</td></tr><tr><td align="left">RBPF-PSO</td><td align="center">0.087333</td><td align="center">9.343</td><td align="center">10</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

tab2

Table 2

Table 2: Improved Rao-Blackwellized Particle Filter by Particle Swarm Optimization 