Table 2.

Measured time to run the estimation algorithm (in seconds) for the 4 collected data sets from the model ship. Values are given as averages ± one standard deviation, after 100 Monte Carlo repetitions with different realisations of the simulated odometry noise.

Runtimes	Data Set 1	Data Set 2	Data Set 3	Data Set 4
Algorithm 1	0.06 ± 0.01	0.05 ± 0.00	0.14 ± 0.01	0.05 ± 0.00
RBPF with 100 particles	12.85 ± 0.26	9.24 ± 0.10	21.55 ± 0.32	9.91 ± 0.14
RBPF with 200 particles	25.70 ± 0.49	18.44 ± 0.166	42.64 ± 0.27	19.72 ± 0.20
RBPF with 500 particles	64.24 ± 0.82	46.02 ± 0.20	106.93 ± 0.34	49.43 ± 1.29