Nonlinear Filtering for Hybrid GPS/GSM Mobile Terminal Tracking

Table 5

Computational complexity in FLOPs of EKF, RBUKF, and MCKF for one time step. Numbers in parentheses denote the FLOP complexity taking into account GPS reference time information.

Algorithm	Method	Complexity in FLOPs
	GSM	3108
EKF	Hybrid 1	6813(7974)
	Hybrid 2	7974(9267)
	GSM	4534
RBUKF	Hybrid 1	9708(11230)
	Hybrid 2	11230(12916)
	GSM	4314
MCKF	Hybrid 1	9360(10842)
	Hybrid 2	10842(12486)