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

Table 8

Six algorithms’ running schedule. Unit: ms.

	IIPRPDE-PF	2U-PRPDE-PF	4U-PRPDE-PF	8U-PRPDE-PF	WU-PRPDE-PF	CU-PRPDE-PF
	39.2	37.51	36.35	35.64	33.56	33
	51.7	50.592	49.011	48	44.2	43
	76.05	75.888	73.5165	69.2	65	64
	152.35	139.536	135.1755	136.5	130.21	128
	250.6	241.536	233.988	225.82	214.18	210
	493.3	471.648	456.909	448.2	421.62	414
	972	930.24	901.17	883.6	830.77	816
	1927.85	1861.296	1803.1305	1748.59	1647.73	1620
	3753.85	3607.536	3494.8005	3410.6	3208.42	3154
	7526.55	7215.888	6990.3915	6842	6432.94	6324.8
	15031	14394.24	13944.42	13662	12847	12631