An Improved Unscented Particle Filter with Global Sampling Strategy

Table 1

Comparison between GS-UPF and the IUPF.

	Time cost (seconds)	RMSE
UPF	11.36	0.15
GS-UPF	4.98	0.17
IUPF, %	3.49	0.35
IUPF, %	5.42	0.26
IUPF, %	7.81	0.21