Research Article
Evaluation of Matrix Square Root Operations for UKF within a UAV GPS/INS Sensor Fusion Application
Table 5
Comparison of UKF and SR-UKF.
| Matrix square root method | Mean performance cost (deg) | Mean execution time (sec) |
| UKF (Cholesky) | 1.795 | 8.16 | SR-UKF | 1.996 | 5.73 |
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