INS/GPS for High-Dynamic UAV-Based Applications

Table 1

Numerical operations involved in sequential and batch measurement updates.

Operation	Num.	Add.	Multi.	Operation	Num.	Add.	Multi.
𝑛𝑛×𝑛𝑚	3 (2)	(𝑛−1)𝑛𝑚	𝑚𝑛^2	𝑛𝑛×𝑛1	3(2)×𝑚	𝑛(𝑛−1)	𝑛^2
𝑛𝑚×𝑚𝑛	5 (4)	(𝑚−1)𝑛^2	𝑚𝑛^2	𝑛1+𝑛1	3(2)×𝑚	𝑛	—
𝑛𝑚+𝑛𝑚	1 (1)	𝑛𝑚	—	1𝑛×𝑛𝑛	10(8)×𝑚	𝑛(𝑛−1)	𝑛^2
𝑛𝑚×𝑚𝑚	2 (1)	(𝑚−1)𝑚𝑛	𝑛𝑚^2	1𝑛×𝑛1	8(6)×𝑚	𝑛−1	𝑛
𝑚𝑛×𝑛𝑛	10 (8)	𝑚𝑛(𝑛−1)	𝑚𝑛^2	1+1	8(6)×𝑚	1	—
𝑚𝑛×𝑛𝑚	5 (4)	(𝑛−1)𝑚^2	𝑛𝑚^2	1×1	2(1)×𝑚	—	1
𝑚𝑚+𝑚𝑚	5 (4)	𝑚^2	—	𝑛1×1	4(2)×𝑚	—	𝑛
𝑛𝑛+𝑛𝑛	5 (4)	𝑛^2	—	𝑛1×1𝑛	5(4)×𝑚	—	𝑛^2
𝑚𝑛×𝑛1	3 (2)	𝑚(𝑛−1)	𝑚𝑛	𝑛𝑛+𝑛𝑛	5(4)×𝑚	𝑛^2	—
𝑚1+𝑚1	3 (2)	𝑚	—
𝑛𝑚×𝑚1	2 (1)	(𝑚−1)𝑛	𝑛𝑚
𝑛1+𝑛1	2 (1)	𝑛	—
inv(𝑚𝑚)	2 (1)	(3/2)𝑚^3−2𝑚^2+(𝑚/2)	(3/2)𝑚^3−(1/2)𝑚