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

Table 3

Computation time analysis for five nonlinear algorithms running 100 times under Gaussian and non-Gaussian noise models.

Filter	Gaussian noise ()			Filter	Non-Gaussian noise ()
		RMSE mean	AVG time (s)			RMSE mean	AVG time (s)
SIR	500	3.2556	1.5	SIR	320	4.0904	2.3
APF	250	3.3211	1.5	APF	160	4.2697	2.3
GPF	800	3.3093	1.5	GPF	340	4.1536	2.3
ECSPF	100	1.1003	1.5	CCSPF	100	2.1215	2.3

Note: AVG = average; RMSE = root mean squared error; SIR = sequential importance resampling; APF = auxiliary particle filter; GPF = Gaussian particle filter; ECSPF = Euclidean distance clustering similarity particle filter; CCSPF = Chebyshev distance clustering similarity particle filter.