Fig. 3
From: On the performance of parallelisation schemes for particle filtering
Empirical mean of the normalised MSE for the centralised BF, with K=10N particles, and the average of M=10 NIBFs with N=20,40,80,160,320,1600. Results are shown for a Lorenz 96 system with J=20 variables (solid lines) and a Lorenz 96 model with J=50 variables (dashed lines). All curves have been obtained from a set of 100 independent simulation trials