In the current implementation of the particel filter no noise is added to the observations. This should be the case as the observation also contains errors. In literature this is often sampled from a zero-mean normal distribution with a variance of: $(eta * Q_{obs})^2$ where eta is often chosen as 0.1 or 0.01. See the table obtained from a literature review below.
Before using the particel filter for any real use case, this should be added
In the current implementation of the particel filter no noise is added to the observations. This should be the case as the observation also contains errors. In literature this is often sampled from a zero-mean normal distribution with a variance of:$(eta * Q_{obs})^2$ where eta is often chosen as 0.1 or 0.01. See the table obtained from a literature review below.
Before using the particel filter for any real use case, this should be added