Distributed Particle Flow Filter for Target Tracking in Wireless Sensor Networks

Table 1

Average results over 500 runs with different methods.

Number	Methods	Average RMSE	Std RMSE	Average runtime (sec)
500	CPF	6.33	4.43	0.3919
	DPF-WAV	9.16	4.35	0.2851
	DPF-AV	126.62	27.51	0.2705
1000	CPF	5.98	4.03	0.7815
	DPF-WAV	8.97	4.12	0.3334
	DPF-AV	124.12	21.48	0.3102
50	DPFF	6.32	4.76	0.0672