INS/GPS for High-Dynamic UAV-Based Applications

Table 6

Computational cost of matrix inverse calculation.

	Left side		Right side
Steps	Multi.	Add.	Multi.	Add.	Rows processed
1	𝑛	𝑛−1	𝑛	𝑛	𝑛−1
2	𝑛−1	𝑛−2	𝑛	𝑛	𝑛−1
⋮	⋮	⋮	⋮	⋮	⋮
𝑛−1	2	1	𝑛	𝑛	𝑛−1
𝑛	1	0	𝑛	𝑛	𝑛−1
Division	0	0	𝑛	0	𝑛