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Table 3 Pseudo code of the SRS-based LPS procedure

From: Multi-prediction particle filter for efficient parallelized implementation

1: /* SRS-based LPS Procedure */

2: Input:

3:   previous selected particle: {{ x t ( i ) , w t ( i ) ,}

4:   new generated particle: { x temp ( j ) , w temp ( j ) ,}

5: Selection:

6:   u ~ U[0, 1]//uniform random variable

7:    w t ( i ) += w temp ( 1 )

8:   if ( ( w t e m p ( j ) ∕ w t ( i ) ) >u)

9:      x t ( i ) = x temp ( j )

10: end if