Fig. 5
From: On the performance of parallelisation schemes for particle filtering
Empirical mean of the normalised MSE versus the running time for the centralised BF with K = 10N particles and the ensemble of M = 10 NIBFs with N = 20,40,80,160,320,1600 particles each. 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