Highly Efficient Sigma Point Filter for Spacecraft Attitude and Rate Estimation

Table 3

Comparisons of total arithmetic operations.

Algorithm	Phase	Multiplies	Adds	Square
				roots
MEKF	Propagation	350	270	2
	Measurement update	260	185	1
	One full filter step*	610	455	3
	One observation circle†	1680	1265	9
MGSPF	Propagation	350	285	5
	Measurement update	380	280	1
	One full filter step	750	565	6
	One observation circle	1860	1480	21
SSUKF	Propagation	810	565	8
	Measurement update	455	370	1
	One full filter step	1265	935	9
	One observation circle	3695	2630	33

∗Including 1 propagation step and 1 measurement update step.
†Including several propagation steps and 1 measurement update step. In this case we take a typical value as 4 propagations for each 1 update.