A Modified Unscented Kalman Filter Combined with Ant Lion Optimization for Vehicle State Estimation

Table 2

The optimization result comparison of different algorithms.

Function	Ave_optimal			Ave_iteration			Ave_time (s)
	GA	PSO	ALO	GA	PSO	ALO	GA	PSO	ALO
Schaffer	0.0097	5.9105e − 06	7.5685e − 06	17	122	65	0.0118	0.0247	0.0870
Griewank	0.0074	1.7831e − 05	8.6813e − 06	26	367	267	0.0364	0.0756	0.3715
Ackley	1.3126e − 05	0.0257	2.9508e − 06	486	325	379	0.3187	0.0827	0.5073
Branin	0.3982	0.3985	0.3979	339	401	120	0.2495	0.0784	0.1554
Six-Hump Camelback	−1.0167	−1.0314	−1.0316	326	389	146	0.2269	0.0910	0.1878