Parallel Differential Evolutionary Particle Filtering Algorithm Based on the CUDA Unfolding Cycle

Table 7

Computation time of the five parallel algorithms.

				Computation time (s)
	CRPF	Block CRPF	2U-PRPDE-PF	4U-PRPDE-PF	Optimized block CRPF
1024	0.15862	0.1125	0.03751 (2.99x)	0.03564 (3.15x)	0.1461
2048	0.21301	0.1676	0.05 (3.35x)	0.048 (3.49x)	0.1747
3200	0.26709	0.21225	0.0625 (3.396x)	0.06 (3.53x)	0.24
4096	0.32074	0.256	0.075 (3.41x)	0.0692 (3.69x)	0.291
6400	0.44983	0.3672	0.096 (3.825x)	0.0783 (4.689x)	0.4076