Clustered Exact Daum-Huang Particle Flow Filter

Table 1

Detailed information about the filters.

Algorithm	EKF	BPF	EDH	LEDH	CEDH	CEDH	CEDH
Particle num.	N/A	10000	500	500	500	500	500
	N/A	N/A	30	30	30	30	30
Cluster num.	N/A	N/A	N/A	N/A	10	30	50
Avg. err. (m)	4,47	3,79	3,24	2,60	1,50	1,41	1,37
Exec. time (s)	0,03	1,57	0,48	44,73	23,05	24,79	28,42