Research Article
Algorithm Improvement of the Low-End GNSS/INS Systems for Land Vehicles Navigation
Table 4
Numbers of operations for different INS algorithms.
| | | A&S | M | D | SR | T |
| | Standard algorithm (100 Hz) | 32000 | 36600 | 9600 | 200 | 1700 | | Modified algorithm (100 Hz) | 8800 (27.5%) | 10400 (28%) | 1600 (17%) | 200 (100%) | 700 (41%) | | Standard algorithm (10 Hz) | 3200 (10%) | 3660 (10%) | 960 (10%) | 20 (10%) | 170 (10%) | | Modified algorithm (10 Hz) | 880 (2.8%) | 1040 (2.8%) | 160 (1.7%) | 20 (10%) | 70 (4%) |
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Note: adds (A), subtracts (S), multiplies (M), divides (D), square roots (SR), and trigonometric (T).
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