Improved Particle Filter Using Clustering Similarity of the State Trajectory with Application to Nonlinear Estimation: Theory, Modeling, and Applications

Figure 6

State tracking and RUL prediction results for the battery based on SIR, APF, ECSPF, and CCSPF. Note: SIR = sequential importance resampling; APF = auxiliary particle filter; ECSPF = Euclidean distance clustering similarity particle filter; CCSPF = Chebyshev distance clustering similarity particle filter.

(a) SIR

(b) APF

(c) ECSPF

(d) CCSPF