added SE estimation to PF algorithm
added SE estimation to PF algorithm

nxdao2000/nimble,NLMichaud/nimble,nimble-dev/nimble,nimble-dev/nimble,NLMichaud/nimble,nimble-dev/nimble,nimble-dev/nimble,NLMichaud/nimble,nxdao2000/nimble,NLMichaud/nimble,nxdao2000/nimble,nimble-dev/nimble,nxdao2000/nimble